diff --git a/.pylintrc b/.pylintrc index 58988c5d74..ae91dd3d7c 100644 --- a/.pylintrc +++ b/.pylintrc @@ -3,7 +3,7 @@ # A comma-separated list of package or module names from where C extensions may # be loaded. Extensions are loading into the active Python interpreter and may # run arbitrary code -extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av +extension-pkg-whitelist=scipy,cereal.messaging.messaging_pyx,PyQt5,av,pycurl # Add files or directories to the blacklist. They should be base names, not # paths. @@ -466,4 +466,4 @@ check-str-concat-over-line-jumps=yes # Exceptions that will emit a warning when being caught. Defaults to # "Exception" -overgeneral-exceptions=Exception +overgeneral-exceptions= diff --git a/Jenkinsfile b/Jenkinsfile index e0e8511251..128273792e 100644 --- a/Jenkinsfile +++ b/Jenkinsfile @@ -175,12 +175,12 @@ pipeline { steps { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], + ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"], ["test loggerd", "python system/loggerd/tests/test_loggerd.py"], ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"], ["test pigeond", "python system/sensord/tests/test_pigeond.py"], ["test manager", "python selfdrive/manager/test/test_manager.py"], - ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"], ]) } } @@ -220,7 +220,7 @@ pipeline { steps { phone_steps("tici-common", [ ["build", "cd selfdrive/manager && ./build.py"], - ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"], + ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"], ]) } } diff --git a/RELEASES.md b/RELEASES.md index 547add8a80..482e959d9b 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,6 +1,11 @@ Version 0.9.3 (2023-06-XX) ======================== * New driving model +* New driving personality setting + * Three settings: aggressive, standard, and relaxed + * Standard is recommended and the default + * In aggressive mode lead follow distance is shorter and quicker gas/brake response + * In relaxed mode lead follow distance is longer Version 0.9.2 (2023-05-22) ======================== diff --git a/cereal b/cereal index 9b6b53396f..f319a83ab7 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 9b6b53396fff6ec7541a5415901d892e57756b91 +Subproject commit f319a83ab7a902477c786a25aa34077b6f640990 diff --git a/common/params.cc b/common/params.cc index bc1e414faa..0e6b644023 100644 --- a/common/params.cc +++ b/common/params.cc @@ -104,6 +104,7 @@ std::unordered_map keys = { {"DisablePowerDown", PERSISTENT}, {"ExperimentalMode", PERSISTENT}, {"ExperimentalModeConfirmed", PERSISTENT}, + {"LongitudinalPersonality", PERSISTENT}, {"ExperimentalLongitudinalEnabled", PERSISTENT}, {"DisableUpdates", PERSISTENT}, {"DisengageOnAccelerator", PERSISTENT}, @@ -112,7 +113,7 @@ std::unordered_map keys = { {"DoShutdown", CLEAR_ON_MANAGER_START}, {"DoUninstall", CLEAR_ON_MANAGER_START}, {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, - {"ForcePowerDown", CLEAR_ON_MANAGER_START}, + {"ForcePowerDown", PERSISTENT}, {"GitBranch", PERSISTENT}, {"GitCommit", PERSISTENT}, {"GitDiff", PERSISTENT}, @@ -185,11 +186,9 @@ std::unordered_map keys = { {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START}, {"Version", PERSISTENT}, {"VisionRadarToggle", PERSISTENT}, - {"WideCameraOnly", PERSISTENT}, {"ApiCache_Device", PERSISTENT}, {"ApiCache_DriveStats", PERSISTENT}, {"ApiCache_NavDestinations", PERSISTENT}, - {"ApiCache_Owner", PERSISTENT}, {"Offroad_BadNvme", CLEAR_ON_MANAGER_START}, {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START}, diff --git a/common/time.py b/common/time.py new file mode 100644 index 0000000000..8dac17815d --- /dev/null +++ b/common/time.py @@ -0,0 +1,3 @@ +import datetime + +MIN_DATE = datetime.datetime(year=2023, month=6, day=1) diff --git a/common/util.cc b/common/util.cc index a527adcbef..55a8b1fb3e 100644 --- a/common/util.cc +++ b/common/util.cc @@ -260,7 +260,7 @@ struct tm get_time() { bool time_valid(struct tm sys_time) { int year = 1900 + sys_time.tm_year; int month = 1 + sys_time.tm_mon; - return (year > 2021) || (year == 2021 && month >= 6); + return (year > 2023) || (year == 2023 && month >= 6); } } // namespace util diff --git a/docs/CARS.md b/docs/CARS.md index 6ee21f3517..a7fb408644 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -8,258 +8,258 @@ A supported vehicle is one that just works when you install a comma three. All s |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| -|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Acura|RDX 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Buick|LaCrosse 2017-19[3](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade 2017[3](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Cadillac|Escalade ESV 2016[3](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chevrolet|Volt 2017-18[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|| -|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount
- 1 comma power v2
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV70 (2.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV70 (3.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 USB-C coupler
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Cruz 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Hyundai|Tucson Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Lincoln|Aviator 2021|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| -|Škoda|Kamiq 2021[7](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| -|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| -|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| -|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[10](#footnotes)|| -|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[10](#footnotes)|| -|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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[10](#footnotes)|| -|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| -|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,9](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 angled mount (8 degrees)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G70 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|G90 2017-18|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Advanced Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV60 (Performance Trim) 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (2.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV70 (3.5T Trim) 2022-23[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Genesis|GV80 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai M connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|GMC|Acadia 2018[3](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 OBD-II connector
- 1 comma three
- 2 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[1](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 GM connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Accord 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Accord Hybrid 2018-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2019-21|All|openpilot available[1](#footnotes)|0 mph|2 mph[4](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Civic Hatchback 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V 2017-22|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[1](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|e 2020|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|HR-V 2023|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Insight 2019-22|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Inspire 2018|All|openpilot available[1](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Honda Bosch A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Honda Nidec connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai J connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai Q connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Ioniq 5 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai O connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai I connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Palisade 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Cruz 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Santa Fe 2019-20|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe 2021-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata 2020-23|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2022[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson 2023[5](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Tucson Hybrid 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 FCA connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|EV6 (Southeast Asia only) 2022-23[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (with HDA II) 2022-23[5](#footnotes)|Highway Driving Assist II|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai P connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|EV6 (without HDA II) 2022-23[5](#footnotes)|Highway Driving Assist|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai L connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2019|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2020|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro EV 2023[5](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[1](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[1](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai B connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai G connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai E connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento 2021-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sorento Plug-in Hybrid 2022-23[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Kia|Sportage 2023[5](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Sportage Hybrid 2023[5](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai N connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Stinger 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai K connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Telluride 2020-22|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|ES Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|NX Hybrid 2018-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Ford Q3 connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 Mazda connector
- 1 RJ45 cable (7 ft)
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan B connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 Nissan A connector
- 1 RJ45 cable (7 ft)
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Ram connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru B connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Subaru A connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Fabia 2022-23[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Škoda|Kamiq 2021[7,9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Škoda|Karoq 2019-21[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Kodiaq 2017-23[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia 2015, 2018-19[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Octavia RS 2016[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Škoda|Scala 2020[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Škoda|Superb 2015-22[9](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2019-21|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2018-20|All|Stock|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry 2021-23|All|openpilot|0 mph[6](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius Prime 2017-20|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2017-18|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Sienna 2018-20|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 RJ45 cable (7 ft)
- 1 Toyota connector
- 1 comma power v2
- 1 comma three
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 angled mount (8 degrees)
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat 2015-22[8](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
[11](#footnotes)|| +|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[1,10](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
View- 1 J533 connector
- 1 USB-C coupler
- 1 comma three
- 1 harness box
- 1 long OBD-C cable
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| ### Footnotes 1Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.
@@ -270,8 +270,9 @@ A supported vehicle is one that just works when you install a comma three. All s 6openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.
7Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform.
8Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.
-9Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
-10Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
+9Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality.
+10Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC.
+11Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store.
## Community Maintained Cars Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/). diff --git a/opendbc b/opendbc index 8faada0494..49b31858a3 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 8faada0494c4498a57c2196e80c6da94f508d009 +Subproject commit 49b31858a36275dc16f768781297e443e57d16ab diff --git a/panda b/panda index 00c2689487..b563405904 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit 00c26894876484d2c5a5b63a1c33c28f0f9b15dd +Subproject commit b56340590485bba2428538259e020f176127458c diff --git a/poetry.lock b/poetry.lock index 91eb7e42e0..679d4b40a1 100644 --- a/poetry.lock +++ b/poetry.lock @@ -188,15 +188,15 @@ tests = ["pytest"] [[package]] name = "astroid" -version = "2.12.12" +version = "2.15.5" description = "An abstract syntax tree for Python with inference support." -category = "main" +category = "dev" optional = false python-versions = ">=3.7.2" [package.dependencies] lazy-object-proxy = ">=1.4.0" -typing-extensions = {version = ">=3.10", markers = "python_version < \"3.10\""} +typing-extensions = {version = ">=4.0.0", markers = "python_version < \"3.11\""} wrapt = {version = ">=1.11,<2", markers = "python_version < \"3.11\""} [[package]] @@ -837,7 +837,7 @@ tests = ["check-manifest (>=0.42)", "mock (>=1.3.0)", "pytest (==5.4.3)", "pytes name = "dill" version = "0.3.5.1" description = "serialize all of python" -category = "main" +category = "dev" optional = false python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*, !=3.6.*" @@ -1631,7 +1631,7 @@ six = "*" name = "isort" version = "5.10.1" description = "A Python utility / library to sort Python imports." -category = "main" +category = "dev" optional = false python-versions = ">=3.6.1,<4.0" @@ -1982,7 +1982,7 @@ tabulate = "*" name = "lazy-object-proxy" version = "1.7.1" description = "A fast and thorough lazy object proxy." -category = "main" +category = "dev" optional = false python-versions = ">=3.6" @@ -3253,16 +3253,16 @@ python-versions = "*" [[package]] name = "pylint" -version = "2.15.4" +version = "2.17.4" description = "python code static checker" -category = "main" +category = "dev" optional = false python-versions = ">=3.7.2" [package.dependencies] -astroid = ">=2.12.11,<=2.14.0-dev0" +astroid = ">=2.15.4,<=2.17.0-dev0" colorama = {version = ">=0.4.5", markers = "sys_platform == \"win32\""} -dill = ">=0.2" +dill = {version = ">=0.2", markers = "python_version < \"3.11\""} isort = ">=4.2.5,<6" mccabe = ">=0.6,<0.8" platformdirs = ">=2.2.0" @@ -4403,7 +4403,7 @@ python-versions = ">=2.6, !=3.0.*, !=3.1.*, !=3.2.*" name = "tomli" version = "2.0.1" description = "A lil' TOML parser" -category = "main" +category = "dev" optional = false python-versions = ">=3.7" @@ -4565,6 +4565,14 @@ category = "dev" optional = false python-versions = "*" +[[package]] +name = "types-python-dateutil" +version = "2.8.19.13" +description = "Typing stubs for python-dateutil" +category = "dev" +optional = false +python-versions = "*" + [[package]] name = "types-pyyaml" version = "6.0.12" @@ -4709,7 +4717,7 @@ python-versions = ">=3.7" name = "wrapt" version = "1.14.1" description = "Module for decorators, wrappers and monkey patching." -category = "main" +category = "dev" optional = false python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,>=2.7" @@ -4804,7 +4812,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"] [metadata] lock-version = "1.1" python-versions = "~3.8" -content-hash = "454ab16c681fa1754b26156f767ca0701eac357b66c146d71d61b39cbed42f5a" +content-hash = "2e03ebb1f6c441a0154531ee92f6f1f8c9e74544d4295d3753029bb8dcd457d1" [metadata.files] adal = [ @@ -4969,8 +4977,8 @@ argon2-cffi-bindings = [ {file = "argon2_cffi_bindings-21.2.0-pp38-pypy38_pp73-win_amd64.whl", hash = "sha256:5e00316dabdaea0b2dd82d141cc66889ced0cdcbfa599e8b471cf22c620c329a"}, ] astroid = [ - {file = "astroid-2.12.12-py3-none-any.whl", hash = "sha256:72702205200b2a638358369d90c222d74ebc376787af8fb2f7f2a86f7b5cc85f"}, - {file = "astroid-2.12.12.tar.gz", hash = "sha256:1c00a14f5a3ed0339d38d2e2e5b74ea2591df5861c0936bb292b84ccf3a78d83"}, + {file = "astroid-2.15.5-py3-none-any.whl", hash = "sha256:078e5212f9885fa85fbb0cf0101978a336190aadea6e13305409d099f71b2324"}, + {file = "astroid-2.15.5.tar.gz", hash = "sha256:1039262575027b441137ab4a62a793a9b43defb42c32d5670f38686207cd780f"}, ] asttokens = [ {file = "asttokens-2.0.8-py2.py3-none-any.whl", hash = "sha256:e3305297c744ae53ffa032c45dc347286165e4ffce6875dc662b205db0623d86"}, @@ -7569,8 +7577,8 @@ pylev = [ {file = "pylev-1.4.0.tar.gz", hash = "sha256:9e77e941042ad3a4cc305dcdf2b2dec1aec2fbe3dd9015d2698ad02b173006d1"}, ] pylint = [ - {file = "pylint-2.15.4-py3-none-any.whl", hash = "sha256:629cf1dbdfb6609d7e7a45815a8bb59300e34aa35783b5ac563acaca2c4022e9"}, - {file = "pylint-2.15.4.tar.gz", hash = "sha256:5441e9294335d354b7bad57c1044e5bd7cce25c433475d76b440e53452fa5cb8"}, + {file = "pylint-2.17.4-py3-none-any.whl", hash = "sha256:7a1145fb08c251bdb5cca11739722ce64a63db479283d10ce718b2460e54123c"}, + {file = "pylint-2.17.4.tar.gz", hash = "sha256:5dcf1d9e19f41f38e4e85d10f511e5b9c35e1aa74251bf95cdd8cb23584e2db1"}, ] pymsalruntime = [ {file = "pymsalruntime-0.11.2-cp310-cp310-win32.whl", hash = "sha256:a45e35c9fa58c196029bb9f5b8bedd313b2a8ac971d576c57c31cb06139de247"}, @@ -8597,6 +8605,10 @@ types-pycurl = [ {file = "types-pycurl-7.45.1.tar.gz", hash = "sha256:82e00aa2981595bfa55e5a3bac42221eb3435b0026dffbe1177f6ac9f2d51200"}, {file = "types_pycurl-7.45.1-py3-none-any.whl", hash = "sha256:9eab3414da4a1b1e9a628bd288fc5172b8c182e1d9fb6d8d082441b0fd64baed"}, ] +types-python-dateutil = [ + {file = "types-python-dateutil-2.8.19.13.tar.gz", hash = "sha256:09a0275f95ee31ce68196710ed2c3d1b9dc42e0b61cc43acc369a42cb939134f"}, + {file = "types_python_dateutil-2.8.19.13-py3-none-any.whl", hash = "sha256:0b0e7c68e7043b0354b26a1e0225cb1baea7abb1b324d02b50e2d08f1221043f"}, +] types-pyyaml = [ {file = "types-PyYAML-6.0.12.tar.gz", hash = "sha256:f6f350418125872f3f0409d96a62a5a5ceb45231af5cc07ee0034ec48a3c82fa"}, {file = "types_PyYAML-6.0.12-py3-none-any.whl", hash = "sha256:29228db9f82df4f1b7febee06bbfb601677882e98a3da98132e31c6874163e15"}, diff --git a/pyproject.toml b/pyproject.toml index fa03248b9b..8877a262ea 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -37,7 +37,6 @@ psutil = "^5.9.1" pycapnp = "==1.1.0" pycryptodome = "^3.15.0" PyJWT = "^2.5.0" -pylint = "^2.15.4" pyopencl = "^2022.2.4" pyserial = "^3.5" python-dateutil = "^2.8.2" @@ -92,6 +91,7 @@ pprofile = "^2.1.0" pre-commit = "^2.19.0" pycurl = "^7.45.1" pygame = "^2.1.2" +pylint = "^2.17.4" pyprof2calltree = "^1.4.5" pytest = "^7.1.2" pytest-xdist = "^2.5.0" @@ -106,6 +106,7 @@ tenacity = "^8.0.1" types-atomicwrites = "^1.4.5" types-certifi = "^2021.10.8" types-pycurl = "^7.45.1" +types-python-dateutil = "^2.8.19.13" types-PyYAML = "^6.0" types-requests = "^2.28.11" types-tabulate = "^0.8.10" diff --git a/release/files_common b/release/files_common index 0280d14b63..e90a8e083b 100644 --- a/release/files_common +++ b/release/files_common @@ -35,6 +35,7 @@ common/filter_simple.py common/stat_live.py common/spinner.py common/text_window.py +common/time.py common/kalman/.gitignore common/kalman/* @@ -181,7 +182,6 @@ selfdrive/controls/lib/desire_helper.py selfdrive/controls/lib/drive_helpers.py selfdrive/controls/lib/events.py selfdrive/controls/lib/latcontrol_angle.py -selfdrive/controls/lib/latcontrol_indi.py selfdrive/controls/lib/latcontrol_torque.py selfdrive/controls/lib/latcontrol_pid.py selfdrive/controls/lib/latcontrol.py @@ -565,8 +565,8 @@ opendbc/hyundai_kia_mando_front_radar_generated.dbc opendbc/mazda_2017.dbc -opendbc/nissan_x_trail_2017.dbc -opendbc/nissan_leaf_2018.dbc +opendbc/nissan_x_trail_2017_generated.dbc +opendbc/nissan_leaf_2018_generated.dbc opendbc/subaru_global_2017_generated.dbc opendbc/subaru_outback_2015_generated.dbc diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg new file mode 100644 index 0000000000..95cb0e283e --- /dev/null +++ b/selfdrive/assets/offroad/icon_wifi_uploading.svg @@ -0,0 +1,6 @@ + + + + + + diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py index 8e335c2b58..842c649672 100755 --- a/selfdrive/athena/athenad.py +++ b/selfdrive/athena/athenad.py @@ -171,7 +171,7 @@ def jsonrpc_handler(end_event: threading.Event) -> None: try: data = recv_queue.get(timeout=1) if "method" in data: - cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}") + cloudlog.event("athena.jsonrpc_handler.call_method", data=data) response = JSONRPCResponseManager.handle(data, dispatcher) send_queue.put_nowait(response.json) elif "id" in data and ("result" in data or "error" in data): diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc index 6f293d1c0d..4205d84781 100644 --- a/selfdrive/boardd/boardd.cc +++ b/selfdrive/boardd/boardd.cc @@ -94,11 +94,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) { } } } else if (dir == SyncTimeDir::FROM_PANDA) { + LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str()); + if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) { const struct timeval tv = {mktime(&rtc_time), 0}; settimeofday(&tv, 0); - LOGE("System time wrong, setting from RTC. System: %s RTC: %s", - get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str()); + LOGE("System time wrong, setting from RTC."); } } } diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index 72c3ea36ca..625e4218f7 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -13,11 +13,11 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) { // try USB first, then SPI try { handle = std::make_unique(serial); - LOGW("conntected to %s over USB", serial.c_str()); + LOGW("connected to %s over USB", serial.c_str()); } catch (std::exception &e) { #ifndef __APPLE__ handle = std::make_unique(serial); - LOGW("conntected to %s over SPI", serial.c_str()); + LOGW("connected to %s over SPI", serial.c_str()); #endif } diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py index 2159eba5eb..93453dcd97 100755 --- a/selfdrive/boardd/set_time.py +++ b/selfdrive/boardd/set_time.py @@ -3,7 +3,7 @@ import os import datetime from panda import Panda -MIN_DATE = datetime.datetime(year=2023, month=4, day=1) +from common.time import MIN_DATE def set_time(logger): sys_time = datetime.datetime.today() diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc index fe237d5f27..e10fd744d5 100644 --- a/selfdrive/boardd/spi.cc +++ b/selfdrive/boardd/spi.cc @@ -68,6 +68,10 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) { // revs of the comma three may not support this speed uint32_t spi_speed = 50000000; + if (!util::file_exists(SPI_DEVICE)) { + goto fail; + } + spi_fd = open(SPI_DEVICE.c_str(), O_RDWR); if (spi_fd < 0) { LOGE("failed opening SPI device %d", spi_fd); diff --git a/selfdrive/boardd/tests/bootstub.panda.bin b/selfdrive/boardd/tests/bootstub.panda.bin new file mode 100755 index 0000000000..43db537061 Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda.bin differ diff --git a/selfdrive/boardd/tests/bootstub.panda_h7.bin b/selfdrive/boardd/tests/bootstub.panda_h7.bin new file mode 100755 index 0000000000..5cf2fa4519 Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7.bin differ diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py index 50d24f4fe3..fff17523e3 100755 --- a/selfdrive/boardd/tests/test_pandad.py +++ b/selfdrive/boardd/tests/test_pandad.py @@ -1,16 +1,19 @@ #!/usr/bin/env python3 +import os import time import unittest import cereal.messaging as messaging from cereal import log from common.gpio import gpio_set, gpio_init -from panda import Panda +from panda import Panda, PandaDFU from selfdrive.test.helpers import phone_only from selfdrive.manager.process_config import managed_processes from system.hardware import HARDWARE from system.hardware.tici.pins import GPIO +HERE = os.path.dirname(os.path.realpath(__file__)) + class TestPandad(unittest.TestCase): @@ -27,11 +30,13 @@ class TestPandad(unittest.TestCase): if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown: raise Exception("boardd failed to start") + def _go_to_dfu(self): + HARDWARE.recover_internal_panda() + assert Panda.wait_for_dfu(None, 10) + @phone_only def test_in_dfu(self): HARDWARE.recover_internal_panda() - time.sleep(1) - managed_processes['pandad'].start() self._wait_for_boardd(60) @@ -66,9 +71,25 @@ class TestPandad(unittest.TestCase): managed_processes['pandad'].start() self._wait_for_boardd(8) + @phone_only + def test_release_to_devel_bootstub(self): + if HARDWARE.get_device_type() != 'tici': + self.skipTest("TODO: fix reset timeout") + + # flash release bootstub + self._go_to_dfu() + pd = PandaDFU(None) + fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn) + with open(fn, "rb") as f: + pd.program_bootstub(f.read()) + pd.reset() + + assert Panda.wait_for_panda(None, 20) + with Panda() as p: + assert p.bootstub - #def test_out_of_date_fw(self): - # pass + managed_processes['pandad'].start() + self._wait_for_boardd(60) if __name__ == "__main__": diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 58cde85817..74197ad941 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,10 +1,13 @@ # functions common among cars -import capnp +import math from collections import namedtuple +from typing import Dict, Optional + +import capnp from cereal import car from common.numpy_fast import clip, interp -from typing import Dict + # kg of standard extra cargo to count for drive, gas, etc... STD_CARGO_KG = 136. @@ -175,3 +178,15 @@ def get_safety_config(safety_model, safety_param = None): if safety_param is not None: ret.safetyParam = safety_param return ret + + +class CanBusBase: + offset: int + + def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None: + if CP is None: + assert fingerprint is not None + num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) + else: + num = len(CP.safetyConfigs) + self.offset = 4 * (num - 1) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index b5ee26cee8..e86807bf55 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -5,7 +5,7 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -60,7 +60,7 @@ RAM_CARS = RAM_DT | RAM_HD @dataclass class ChryslerCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC)" - car_parts: CarParts = CarParts.common([CarPart.fca]) + car_parts: CarParts = CarParts.common([CarHarness.fca]) CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { @@ -74,10 +74,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = { ], CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarPart.ram])), + CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])), CAR.RAM_HD: [ - ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarPart.ram])), - ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarPart.ram])), + ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), ], } @@ -224,9 +224,11 @@ FW_VERSIONS = { b'68453511AC', b'68453513AD', b'68453514AD', + b'68510280AG', b'68510283AG', - b'68527375AD', b'68527346AE', + b'68527375AD', + b'68527382AE', ], (Ecu.srs, 0x744, None): [ b'68428609AB', @@ -235,6 +237,7 @@ FW_VERSIONS = { b'68490898AA', b'68500728AA', b'68615033AA', + b'68615034AA', ], (Ecu.abs, 0x747, None): [ b'68292406AH', @@ -248,12 +251,13 @@ FW_VERSIONS = { b'68438456AF', b'68535469AB', b'68535470AC', - b'68586307AB', b'68548900AB', + b'68586307AB', ], (Ecu.fwdRadar, 0x753, None): [ b'04672892AB', b'04672932AB', + b'22DTRHD_AA', b'68320950AH', b'68320950AI', b'68320950AJ', @@ -265,8 +269,10 @@ FW_VERSIONS = { b'68475160AG', ], (Ecu.eps, 0x75A, None): [ + b'21590101AA', b'68273275AF', b'68273275AG', + b'68273275AH', b'68312176AE', b'68312176AG', b'68440789AC', @@ -275,23 +281,28 @@ FW_VERSIONS = { b'68522583AB', b'68522585AB', b'68552788AA', + b'68552789AA', b'68552790AA', + b'68585109AB', b'68585112AB', - b'68552789AA', ], (Ecu.engine, 0x7e0, None): [ b'05036065AE ', b'05036066AE ', + b'05149591AD ', + b'05149846AA ', + b'05149848AA ', b'68378701AI ', + b'68378748AL ', b'68378758AM ', b'68448163AJ', b'68448165AK', b'68500630AD', b'68500630AE', b'68539650AD', - b'05149846AA ', ], (Ecu.transmission, 0x7e1, None): [ + b'05149536AC', b'68360078AL', b'68360080AM', b'68360081AM', @@ -301,8 +312,8 @@ FW_VERSIONS = { b'68445533AB', b'68484467AC', b'68502994AD', - b'68540431AB', b'68520867AE', + b'68540431AB', ], }, @@ -314,6 +325,7 @@ FW_VERSIONS = { b'68525485AB', b'68525487AB', b'68525498AB', + b'68528791AF', ], (Ecu.srs, 0x744, None): [ b'68399794AC', @@ -329,9 +341,11 @@ FW_VERSIONS = { b'68504022AC', b'68530686AB', b'68530686AC', + b'68544596AC', ], (Ecu.fwdRadar, 0x753, None): [ b'04672895AB', + b'04672934AB', b'56029827AG', b'56029827AH', b'68462657AE', @@ -341,6 +355,7 @@ FW_VERSIONS = { (Ecu.eps, 0x761, None): [ b'68421036AC', b'68507906AB', + b'68534023AC', ], (Ecu.engine, 0x7e0, None): [ b'52370131AF', @@ -349,6 +364,7 @@ FW_VERSIONS = { b'52370931CT', b'52401032AE', b'52421132AF', + b'52421332AF', b'68527616AD ', b'M2370131MB', b'M2421132MB', diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index afeb457544..143d64bd52 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -10,7 +10,7 @@ from typing import Dict, List from cereal import car from common.basedir import BASEDIR from selfdrive.car import gen_empty_fingerprint -from selfdrive.car.docs_definitions import CarInfo, CarPart, Column, CommonFootnote, PartType +from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType from selfdrive.car.car_helpers import interfaces, get_interface_attr @@ -61,9 +61,9 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str: template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True) footnotes = [fn.value.text for fn in get_all_footnotes()] - cars_md: str = template.render(all_car_info=all_car_info, CarPart=CarPart, - PartType=PartType, group_by_make=group_by_make, - footnotes=footnotes, Column=Column) + cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType, + group_by_make=group_by_make, footnotes=footnotes, + Column=Column) return cars_md diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py index 2088cc63b3..23b460147e 100644 --- a/selfdrive/car/docs_definitions.py +++ b/selfdrive/car/docs_definitions.py @@ -30,120 +30,131 @@ class Star(Enum): EMPTY = "empty" -class PartType(Enum): - connector = "Connector" - device = "Device" - cable = "Cable" - accessory = "Accessory" - mount = "Mount" - - +# A part + its comprised parts @dataclass -class Part: +class BasePart: name: str + parts: List[Enum] = field(default_factory=list) - @property - def type(self) -> PartType: - raise NotImplementedError + def all_parts(self): + # Recursively get all parts + _parts = 'parts' + parts = [] + parts.extend(getattr(self, _parts)) + for part in getattr(self, _parts): + parts.extend(part.value.all_parts()) + return parts -class Connector(Part): + +class EnumBase(Enum): @property - def type(self) -> PartType: - return PartType.connector + def type(self): + return PartType(self.__class__) -class Accessory(Part): - @property - def type(self) -> PartType: - return PartType.accessory +class Mount(EnumBase): + mount = BasePart("mount") + angled_mount_8_degrees = BasePart("angled mount (8 degrees)") -class Mount(Part): - @property - def type(self) -> PartType: - return PartType.mount +class Cable(EnumBase): + rj45_cable_7ft = BasePart("RJ45 cable (7 ft)") + long_obdc_cable = BasePart("long OBD-C cable") + usb_a_2_a_cable = BasePart("USB A-A cable") + usbc_otg_cable = BasePart("USB C OTG cable") + usbc_coupler = BasePart("USB-C coupler") + obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)") + right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)") -class Cable(Part): - @property - def type(self) -> PartType: - return PartType.cable +class Accessory(EnumBase): + harness_box = BasePart("harness box") + comma_power_v2 = BasePart("comma power v2") -class Device(Part): - @property - def type(self) -> PartType: - return PartType.device - - -class CarPart(Enum): - nidec = Connector("Honda Nidec connector") - bosch_a = Connector("Honda Bosch A connector") - bosch_b = Connector("Honda Bosch B connector") - toyota = Connector("Toyota connector") - subaru_a = Connector("Subaru A connector") - subaru_b = Connector("Subaru B connector") - fca = Connector("FCA connector") - ram = Connector("Ram connector") - vw = Connector("VW connector") - j533 = Connector("J533 connector") - hyundai_a = Connector("Hyundai A connector") - hyundai_b = Connector("Hyundai B connector") - hyundai_c = Connector("Hyundai C connector") - hyundai_d = Connector("Hyundai D connector") - hyundai_e = Connector("Hyundai E connector") - hyundai_f = Connector("Hyundai F connector") - hyundai_g = Connector("Hyundai G connector") - hyundai_h = Connector("Hyundai H connector") - hyundai_i = Connector("Hyundai I connector") - hyundai_j = Connector("Hyundai J connector") - hyundai_k = Connector("Hyundai K connector") - hyundai_l = Connector("Hyundai L connector") - hyundai_m = Connector("Hyundai M connector") - hyundai_n = Connector("Hyundai N connector") - hyundai_o = Connector("Hyundai O connector") - hyundai_p = Connector("Hyundai P connector") - hyundai_q = Connector("Hyundai Q connector") - custom = Connector("Developer connector") - obd_ii = Connector("OBD-II connector") - gm = Connector("GM connector") - nissan_a = Connector("Nissan A connector") - nissan_b = Connector("Nissan B connector") - mazda = Connector("Mazda connector") - ford_q3 = Connector("Ford Q3 connector") - ford_q4 = Connector("Ford Q4 connector") - - comma_3 = Device("comma 3") - red_panda = Device("red panda") - - harness_box = Accessory("harness box") - comma_power_v2 = Accessory("comma power v2") - - mount = Mount("mount") - angled_mount = Mount("angled mount") - - rj45_cable_7ft = Cable("RJ45 cable (7 ft)") - long_obdc_cable = Cable("long OBD-C cable") - usb_a_2_a_cable = Cable("USB A-A cable") - usbc_otg_cable = Cable("USB C OTG cable") - usbc_coupler = Cable("USB-C coupler") - obd_c_cable_1_5ft = Cable("OBD-C cable (1.5 ft)") - right_angle_obd_c_cable_1_5ft = Cable("right angle OBD-C cable (1.5 ft)") - - -DEFAULT_CAR_PARTS: List[CarPart] = [CarPart.harness_box, CarPart.comma_power_v2, CarPart.rj45_cable_7ft, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft] +@dataclass +class BaseCarHarness(BasePart): + parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft]) + has_connector: bool = True # without are hidden on the harness connector page + + +class CarHarness(EnumBase): + nidec = BaseCarHarness("Honda Nidec connector") + bosch_a = BaseCarHarness("Honda Bosch A connector") + bosch_b = BaseCarHarness("Honda Bosch B connector") + toyota = BaseCarHarness("Toyota connector") + subaru_a = BaseCarHarness("Subaru A connector") + subaru_b = BaseCarHarness("Subaru B connector") + fca = BaseCarHarness("FCA connector") + ram = BaseCarHarness("Ram connector") + vw = BaseCarHarness("VW connector") + j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler]) + hyundai_a = BaseCarHarness("Hyundai A connector") + hyundai_b = BaseCarHarness("Hyundai B connector") + hyundai_c = BaseCarHarness("Hyundai C connector") + hyundai_d = BaseCarHarness("Hyundai D connector") + hyundai_e = BaseCarHarness("Hyundai E connector") + hyundai_f = BaseCarHarness("Hyundai F connector") + hyundai_g = BaseCarHarness("Hyundai G connector") + hyundai_h = BaseCarHarness("Hyundai H connector") + hyundai_i = BaseCarHarness("Hyundai I connector") + hyundai_j = BaseCarHarness("Hyundai J connector") + hyundai_k = BaseCarHarness("Hyundai K connector") + hyundai_l = BaseCarHarness("Hyundai L connector") + hyundai_m = BaseCarHarness("Hyundai M connector") + hyundai_n = BaseCarHarness("Hyundai N connector") + hyundai_o = BaseCarHarness("Hyundai O connector") + hyundai_p = BaseCarHarness("Hyundai P connector") + hyundai_q = BaseCarHarness("Hyundai Q connector") + custom = BaseCarHarness("Developer connector") + obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False) + gm = BaseCarHarness("GM connector") + nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler]) + mazda = BaseCarHarness("Mazda connector") + ford_q3 = BaseCarHarness("Ford Q3 connector") + ford_q4 = BaseCarHarness("Ford Q4 connector") + + +class Device(EnumBase): + three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft]) + # variant of comma three with angled mounts + three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft]) + red_panda = BasePart("red panda") + + +class Kit(EnumBase): + red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box, Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft]) + + +class PartType(Enum): + accessory = Accessory + cable = Cable + connector = CarHarness + device = Device + kit = Kit + mount = Mount + + +DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three] @dataclass class CarParts: - parts: List[CarPart] = field(default_factory=list) + parts: List[EnumBase] = field(default_factory=list) @classmethod - def common(cls, add: List[CarPart] = None, remove: List[CarPart] = None): + def common(cls, add: List[EnumBase] = None, remove: List[EnumBase] = None): p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])] return cls(p) + def all_parts(self): + parts = [] + for part in self.parts: + parts.extend(part.value.all_parts()) + return self.parts + parts + CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False)) @@ -251,8 +262,8 @@ class CarInfo: if self.car_parts.parts: model_years = self.model + (' ' + self.years if self.years else '') buy_link = f'Buy Here' - parts = '
'.join([f"- {self.car_parts.parts.count(part)} {part.value.name}" for part in - sorted(set(self.car_parts.parts), key=lambda part: str(part.value.name))]) + car_parts_docs = self.car_parts.all_parts() + parts = '
'.join([f"- {car_parts_docs.count(part)} {part.value.name}" for part in sorted(set(car_parts_docs), key=lambda part: str(part.value.name))]) hardware_col = f'
View{parts}
{buy_link}
' self.row: Dict[Enum, Union[str, Star]] = { diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index d9a9ae6bc0..2a930e735e 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,9 +2,9 @@ from cereal import car from common.numpy_fast import clip from opendbc.can.packer import CANPacker from selfdrive.car import apply_std_steer_angle_limits -from selfdrive.car.ford.fordcan import create_acc_msg, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \ - create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg -from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams +from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ + create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg +from selfdrive.car.ford.values import CANFD_CARS, CarControllerParams LongCtrlState = car.CarControl.Actuators.LongControlState VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -27,6 +27,7 @@ class CarController: self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) + self.CAN = CanBus(CP) self.frame = 0 self.apply_curvature_last = 0 @@ -45,15 +46,15 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True)) - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) + can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### # send steer msg at 20Hz @@ -70,14 +71,14 @@ class CarController: if self.CP.carFingerprint in CANFD_CARS: # TODO: extended mode mode = 1 if CC.latActive else 0 - counter = self.frame // CarControllerParams.STEER_STEP - can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter)) + counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF + can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) else: - can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.)) + can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) # send lka msg at 33Hz if (self.frame % CarControllerParams.LKA_STEP) == 0: - can_sends.append(create_lka_msg(self.packer)) + can_sends.append(create_lka_msg(self.packer, self.CAN)) ### longitudinal control ### # send acc msg at 50Hz @@ -89,16 +90,16 @@ class CarController: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(create_acc_msg(self.packer, CC.longActive, gas, accel, stopping)) + can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(create_acc_ui_msg(self.packer, self.CP, main_on, CC.latActive, + can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, CS.out.cruiseState.standstill, hud_control, CS.acc_tja_status_stock_values)) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 9be2c7637c..b768749325 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -3,7 +3,8 @@ from common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from selfdrive.car.interfaces import CarStateBase -from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams +from selfdrive.car.ford.fordcan import CanBus +from selfdrive.car.ford.values import DBC, CarControllerParams GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType @@ -211,7 +212,7 @@ class CarState(CarStateBase): ("Side_Detect_R_Stat", 5), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).main) @staticmethod def get_cam_can_parser(CP): @@ -268,4 +269,4 @@ class CarState(CarStateBase): ("IPMA_Data", 1), ] - return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera) + return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus(CP).camera) diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 97a8c025d4..30a53597d6 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -1,9 +1,26 @@ from cereal import car -from selfdrive.car.ford.values import CANBUS +from selfdrive.car import CanBusBase HUDControl = car.CarControl.HUDControl +class CanBus(CanBusBase): + def __init__(self, CP=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + @property + def main(self) -> int: + return self.offset + + @property + def radar(self): + return self.offset + 1 + + @property + def camera(self): + return self.offset + 2 + + def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): curvature = (dat[2] << 3) | ((dat[3]) >> 5) curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5) @@ -17,7 +34,7 @@ def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray): return 0xFF - (checksum & 0xFF) -def create_lka_msg(packer): +def create_lka_msg(packer, CAN: CanBus): """ Creates an empty CAN message for the Ford LKA Command. @@ -26,10 +43,10 @@ def create_lka_msg(packer): Frequency is 33Hz. """ - return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, {}) + return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {}) -def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: float, curvature: float, +def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float, curvature_rate: float): """ Creates a CAN message for the Ford TJA/LCA Command. @@ -66,10 +83,10 @@ def create_lat_ctl_msg(packer, lat_active: bool, path_offset: float, path_angle: "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } - return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) + return packer.make_can_msg("LateralMotionControl", CAN.main, values) -def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float, curvature: float, +def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float, curvature_rate: float, counter: int): """ Create a CAN message for the new Ford Lane Centering command. @@ -95,13 +112,13 @@ def create_lat_ctl2_msg(packer, mode: int, path_offset: float, path_angle: float } # calculate checksum - dat = packer.make_can_msg("LateralMotionControl2", CANBUS.main, values)[2] + dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2] values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat) - return packer.make_can_msg("LateralMotionControl2", CANBUS.main, values) + return packer.make_can_msg("LateralMotionControl2", CAN.main, values) -def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping: bool): +def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool): """ Creates a CAN message for the Ford ACC Command. @@ -122,10 +139,10 @@ def create_acc_msg(packer, long_active: bool, gas: float, accel: float, stopping "AccBrkDecel_B_Rq": 1 if decel else 0, # Deceleration request: 0=Inactive, 1=Active "AccStopStat_B_Rq": 1 if stopping else 0, } - return packer.make_can_msg("ACCDATA", CANBUS.main, values) + return packer.make_can_msg("ACCDATA", CAN.main, values) -def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool, hud_control, +def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, standstill: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam @@ -197,10 +214,11 @@ def create_acc_ui_msg(packer, CP, main_on: bool, enabled: bool, standstill: bool "AccTGap_D_Dsply": 4, # Fixed time gap in UI }) - return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) + return packer.make_can_msg("ACCDATA_3", CAN.main, values) -def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): +def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control, + stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -263,11 +281,10 @@ def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed }) - return packer.make_can_msg("IPMA_Data", CANBUS.main, values) + return packer.make_can_msg("IPMA_Data", CAN.main, values) -def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, - bus: int = CANBUS.camera): +def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False): """ Creates a CAN message for the Ford SCCM buttons/switches. diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index 626853dd8f..fef7fcefc8 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -3,6 +3,7 @@ from cereal import car from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config +from selfdrive.car.ford.fordcan import CanBus from selfdrive.car.ford.values import CAR, Ecu from selfdrive.car.interfaces import CarInterfaceBase @@ -14,7 +15,6 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] # These cars are dashcam only for lack of test coverage. # Once a user confirms each car works and a test route is @@ -26,9 +26,15 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.2 ret.steerLimitTimer = 1.0 + CAN = CanBus(fingerprint=fingerprint) + cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)] + if CAN.main >= 4: + cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput)) + ret.safetyConfigs = cfgs + ret.experimentalLongitudinalAvailable = True if experimental_long: - ret.safetyConfigs[0].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL + ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL ret.openpilotLongitudinalControl = True if candidate == CAR.BRONCO_SPORT_MK1: @@ -61,7 +67,7 @@ class CarInterface(CarInterfaceBase): # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 found_ecus = [fw.ecu for fw in car_fw] - if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0] or docs: + if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs: ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual @@ -69,7 +75,7 @@ class CarInterface(CarInterfaceBase): # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat # TODO: detect bsm in car_fw? - ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0] + ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main] # LCA can steer down to zero ret.minSteerSpeed = 0. diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py index ee4efb311d..e44730ca4f 100644 --- a/selfdrive/car/ford/radar_interface.py +++ b/selfdrive/car/ford/radar_interface.py @@ -3,7 +3,8 @@ from math import cos, sin from cereal import car from opendbc.can.parser import CANParser from common.conversions import Conversions as CV -from selfdrive.car.ford.values import CANBUS, DBC, RADAR +from selfdrive.car.ford.fordcan import CanBus +from selfdrive.car.ford.values import DBC, RADAR from selfdrive.car.interfaces import RadarInterfaceBase DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540)) @@ -12,16 +13,16 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120 DELPHI_MRR_RADAR_MSG_COUNT = 64 -def _create_delphi_esr_radar_can_parser(): +def _create_delphi_esr_radar_can_parser(CP) -> CANParser: msg_n = len(DELPHI_ESR_RADAR_MSGS) signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n, DELPHI_ESR_RADAR_MSGS * 3)) checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n)) - return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar) + return CANParser(RADAR.DELPHI_ESR, signals, checks, CanBus(CP).radar) -def _create_delphi_mrr_radar_can_parser(): +def _create_delphi_mrr_radar_can_parser(CP) -> CANParser: signals = [] checks = [] @@ -37,7 +38,7 @@ def _create_delphi_mrr_radar_can_parser(): ] checks += [(msg, 20)] - return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar) + return CANParser(RADAR.DELPHI_MRR, signals, checks, CanBus(CP).radar) class RadarInterface(RadarInterfaceBase): @@ -50,11 +51,11 @@ class RadarInterface(RadarInterfaceBase): if self.radar is None or CP.radarUnavailable: self.rcp = None elif self.radar == RADAR.DELPHI_ESR: - self.rcp = _create_delphi_esr_radar_can_parser() + self.rcp = _create_delphi_esr_radar_can_parser(CP) self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1] self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS} elif self.radar == RADAR.DELPHI_MRR: - self.rcp = _create_delphi_mrr_radar_can_parser() + self.rcp = _create_delphi_mrr_radar_can_parser(CP) self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1 else: raise ValueError(f"Unsupported radar: {self.radar}") diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 41fa8f3475..a2e9ea2442 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -4,7 +4,7 @@ from typing import Dict, List, Set, Union from cereal import car from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -29,8 +29,8 @@ class CarControllerParams: ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015]) CURVATURE_ERROR = 0.002 # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s - ACCEL_MAX = 2.0 # m/s^s max acceleration - ACCEL_MIN = -3.5 # m/s^s max deceleration + ACCEL_MAX = 2.0 # m/s^2 max acceleration + ACCEL_MIN = -3.5 # m/s^2 max deceleration MIN_GAS = -0.5 INACTIVE_GAS = -5.0 @@ -38,12 +38,6 @@ class CarControllerParams: pass -class CANBUS: - main = 0 - radar = 1 - camera = 2 - - class CAR: BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN" ESCAPE_MK4 = "FORD ESCAPE 4TH GEN" @@ -66,11 +60,11 @@ DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base @dataclass class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" - car_parts: CarParts = CarParts.common([CarPart.ford_q3]) + car_parts: CarParts = CarParts.common([CarHarness.ford_q3]) def init_make(self, CP: car.CarParams): if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1): - self.car_parts = CarParts.common([CarPart.ford_q3, CarPart.angled_mount], remove=[CarPart.mount]) + self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3]) CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { @@ -81,7 +75,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = { ], CAR.EXPLORER_MK6: [ FordCarInfo("Ford Explorer 2020-22"), - FordCarInfo("Lincoln Aviator 2021", "Co-Pilot360 Plus"), + FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"), ], CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"), CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"), @@ -101,6 +95,9 @@ FW_QUERY_CONFIG = FwQueryConfig( whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire], ), ], + extra_ecus=[ + (Ecu.shiftByWire, 0x732, None), + ], ) FW_VERSIONS = { @@ -123,10 +120,6 @@ FW_VERSIONS = { b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ1P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.ESCAPE_MK4: { (Ecu.eps, 0x730, None): [ @@ -153,11 +146,6 @@ FW_VERSIONS = { b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'PZ1P-14G395-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.EXPLORER_MK6: { (Ecu.eps, 0x730, None): [ @@ -184,18 +172,13 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7E0, None): [ b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', + b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'L1MP-14C561-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, CAR.FOCUS_MK4: { (Ecu.eps, 0x730, None): [ @@ -213,8 +196,6 @@ FW_VERSIONS = { (Ecu.engine, 0x7E0, None): [ b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - ], }, CAR.MAVERICK_MK1: { (Ecu.eps, 0x730, None): [ @@ -236,8 +217,5 @@ FW_VERSIONS = { b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', ], - (Ecu.shiftByWire, 0x732, None): [ - b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', - ], }, } diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 7ae9bee404..b3fb8476e5 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -3,7 +3,7 @@ import capnp import copy from dataclasses import dataclass, field import struct -from typing import Dict, List, Optional, Tuple +from typing import Callable, Dict, List, Optional, Set, Tuple import panda.python.uds as uds @@ -75,6 +75,12 @@ class FwQueryConfig: # Ecus added for data collection, not to be fingerprinted on extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list) + # Brand-specific fuzzy fingerprinting config options: + # A function to get unique, platform-specific identification codes for a set of versions + fuzzy_get_platform_codes: Optional[Callable[[List[bytes]], Set[bytes]]] = None + # List of ECUs expected to have platform codes + platform_code_ecus: List[capnp.lib.capnp._EnumModule] = field(default_factory=list) + def __post_init__(self): for i in range(len(self.requests)): if self.requests[i].auxiliary: diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 1c0d5003ec..bfb65f7a12 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,7 +1,8 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, Dict, List, Set +from typing import Any, DefaultDict, Dict, List, Optional, Set, Tuple from tqdm import tqdm +import capnp import panda.python.uds as uds from cereal import car @@ -14,6 +15,7 @@ from system.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] +FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True) VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True) @@ -27,23 +29,29 @@ def chunks(l, n=128): yield l[i:i + n] -def build_fw_dict(fw_versions, filter_brand=None): +def is_brand(brand: str, filter_brand: Optional[str]) -> bool: + """Returns if brand matches filter_brand or no brand filter is specified""" + return filter_brand is None or brand == filter_brand + + +def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder], + filter_brand: Optional[str] = None) -> Dict[Tuple[int, Optional[int]], Set[bytes]]: fw_versions_dict = defaultdict(set) for fw in fw_versions: - if (filter_brand is None or fw.brand == filter_brand) and not fw.logging: + if is_brand(fw.brand, filter_brand) and not fw.logging: sub_addr = fw.subAddress if fw.subAddress != 0 else None fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion) return dict(fw_versions_dict) -def get_brand_addrs(): - brand_addrs = defaultdict(set) +def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]: + brand_addrs: DefaultDict[str, Set[Tuple[int, Optional[int]]]] = defaultdict(set) for brand, cars in VERSIONS.items(): # Add ecus in database + extra ecus to match against brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus} for fw in cars.values(): brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()} - return brand_addrs + return dict(brand_addrs) def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): @@ -51,12 +59,6 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars the match is rejected.""" - # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) - # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost - # impossible to get 3 matching versions, even if two models with shared parts are released at the same - # time and only one is in our database. - exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug] - # Build lookup table from (addr, sub_addr, fw) to list of candidate cars all_fw_versions = defaultdict(list) for candidate, fw_by_addr in FW_VERSIONS.items(): @@ -64,35 +66,42 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None): continue for addr, fws in fw_by_addr.items(): - if addr[0] in exclude_types: + # These ECUs are known to be shared between models (EPS only between hybrid/ICE version) + # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost + # impossible to get 3 matching versions, even if two models with shared parts are released at the same + # time and only one is in our database. + if addr[0] in FUZZY_EXCLUDE_ECUS: continue for f in fws: all_fw_versions[(addr[1], addr[2], f)].append(candidate) - match_count = 0 + matched_ecus = set() candidate = None for addr, versions in fw_versions_dict.items(): + ecu_key = (addr[0], addr[1]) for version in versions: # All cars that have this FW response on the specified address - candidates = all_fw_versions[(addr[0], addr[1], version)] + candidates = all_fw_versions[(*ecu_key, version)] if len(candidates) == 1: - match_count += 1 + matched_ecus.add(ecu_key) if candidate is None: candidate = candidates[0] # We uniquely matched two different cars. No fuzzy match possible elif candidate != candidates[0]: return set() - if match_count >= 2: + # Note that it is possible to match to a candidate without all its ECUs being present + # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching + if len(matched_ecus) >= 2: if log: - cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs") + cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs") return {candidate} else: return set() -def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: +def match_fw_to_car_exact(fw_versions_dict, log=True) -> Set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it @@ -101,8 +110,8 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: candidates = FW_VERSIONS for candidate, fws in candidates.items(): + config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] for ecu, expected_versions in fws.items(): - config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]] ecu_type = ecu[0] addr = ecu[1:] @@ -127,7 +136,7 @@ def match_fw_to_car_exact(fw_versions_dict) -> Set[str]: return set(candidates.keys()) - set(invalid) -def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): +def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): # Try exact matching first exact_matches = [] if allow_exact: @@ -140,7 +149,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True): matches = set() for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) - matches |= match_func(fw_versions_dict) + matches |= match_func(fw_versions_dict, log=log) if len(matches): return exact_match, matches @@ -214,7 +223,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool): cloudlog.warning("OBD multiplexing set successfully") -def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False): +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ + List[capnp.lib.capnp._DynamicStructBuilder]: """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" all_car_fw = [] @@ -235,7 +245,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False): +def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ + List[capnp.lib.capnp._DynamicStructBuilder]: versions = VERSIONS.copy() params = Params() @@ -273,7 +284,7 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, # Get versions and build capnp list to put into CarParams car_fw = [] - requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand] + requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)] for addr in tqdm(addrs, disable=not progress): for addr_chunk in chunks(addr): for brand, config, r in requests: @@ -286,11 +297,11 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, set_obd_multiplexing(params, r.obd_multiplexing) try: - addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and - (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] + query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and + (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)] - if addrs: - query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug) + if query_addrs: + query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug) for (tx_addr, sub_addr), version in query.get_data(timeout).items(): f = car.CarParams.CarFw.new_message() diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 60c76f135b..b21c303d85 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -5,7 +5,7 @@ from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column Ecu = car.CarParams.Ecu @@ -89,9 +89,9 @@ class GMCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera: - self.car_parts = CarParts.common([CarPart.gm]) + self.car_parts = CarParts.common([CarHarness.gm]) else: - self.car_parts = CarParts([CarPart.obd_ii, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]) + self.car_parts = CarParts.common([CarHarness.obd_ii]) self.footnotes.append(Footnote.OBD_II) diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py index bcc239c2df..35d6279902 100644 --- a/selfdrive/car/honda/carstate.py +++ b/selfdrive/car/honda/carstate.py @@ -148,7 +148,6 @@ class CarState(CarStateBase): self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) - self.brake_error = False self.brake_switch_prev = False self.brake_switch_active = False self.cruise_setting = 0 @@ -195,9 +194,17 @@ class CarState(CarStateBase): ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2") if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS: - self.brake_error = cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"] - elif self.CP.openpilotLongitudinalControl: - self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"] + ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"]) + else: + # On some cars, these two signals are always 1, this flag is masking a bug in release + # FIXME: find and set the ACC faulted signals on more platforms + if self.CP.openpilotLongitudinalControl: + ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]) + + # Log non-critical stock ACC/LKAS faults if Nidec (camera) + if self.CP.carFingerprint not in HONDA_BOSCH: + ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"]) + ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0 ret.wheelSpeeds = self.get_wheel_speeds( @@ -332,12 +339,15 @@ class CarState(CarStateBase): ("AEB_REQ_1", "BRAKE_COMMAND"), ("FCW", "BRAKE_COMMAND"), ("CHIME", "BRAKE_COMMAND"), + ("LKAS_PROBLEM", "LKAS_HUD"), ("FCM_OFF", "ACC_HUD"), ("FCM_OFF_2", "ACC_HUD"), ("FCM_PROBLEM", "ACC_HUD"), + ("ACC_PROBLEM", "ACC_HUD"), ("ICONS", "ACC_HUD")] checks += [ ("ACC_HUD", 10), + ("LKAS_HUD", 10), ("BRAKE_COMMAND", 50), ] diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 65deab7401..11eff61b33 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -292,8 +292,8 @@ class CarInterface(CarInterfaceBase): # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not # conflict with PCM acc - stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor - ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS + ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor + ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors @@ -326,9 +326,6 @@ class CarInterface(CarInterfaceBase): # events events = self.create_common_events(ret, pcm_enable=False) - if self.CS.brake_error: - events.add(EventName.brakeUnavailable) - if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.belowEngageSpeed) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index d19281fce7..ba7a42d2a1 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -6,7 +6,7 @@ from cereal import car from common.conversions import Conversions as CV from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -110,9 +110,9 @@ class HondaCarInfo(CarInfo): def init_make(self, CP: car.CarParams): if CP.carFingerprint in HONDA_BOSCH: - self.car_parts = CarParts.common([CarPart.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarPart.bosch_a]) + self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) else: - self.car_parts = CarParts.common([CarPart.nidec]) + self.car_parts = CarParts.common([CarHarness.nidec]) CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { @@ -146,7 +146,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = { CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CAR.PILOT: [ HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), - HondaCarInfo("Honda Passport 2019-22", "All", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS), CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), @@ -1130,6 +1130,7 @@ FW_VERSIONS = { b'37805-RLV-B210\x00\x00', b'37805-RLV-L160\x00\x00', b'37805-RLV-B420\x00\x00', + b'37805-RLV-F120\x00\x00', ], (Ecu.gateway, 0x18daeff1, None): [ b'38897-TG7-A030\x00\x00', diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index 11ff2fb6e4..ac74d2cc5b 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -141,7 +141,7 @@ class CarController: # cruise cancel if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: - can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) + can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CAN, CS.cruise_info)) self.last_button_frame = self.frame else: for _ in range(20): diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index cec2c3e69e..9bf2e0d4c1 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -173,8 +173,8 @@ class CarState(CarStateBase): ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 - ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1 - ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0 + ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1 + ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0 gear = cp.vl[self.gear_msg_canfd]["GEAR"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) @@ -457,8 +457,8 @@ class CarState(CarStateBase): ("LEFT_LAMP", "BLINKERS"), ("RIGHT_LAMP", "BLINKERS"), - ("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"), - ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"), + ("DRIVER_DOOR", "DOORS_SEATBELTS"), + ("DRIVER_SEATBELT", "DOORS_SEATBELTS"), ] checks = [ @@ -486,6 +486,8 @@ class CarState(CarStateBase): if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: signals += [ + ("COUNTER", "SCC_CONTROL"), + ("CHECKSUM", "SCC_CONTROL"), ("ACCMode", "SCC_CONTROL"), ("VSetDis", "SCC_CONTROL"), ("CRUISE_STANDSTILL", "SCC_CONTROL"), @@ -528,6 +530,7 @@ class CarState(CarStateBase): elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: signals += [ ("COUNTER", "SCC_CONTROL"), + ("CHECKSUM", "SCC_CONTROL"), ("NEW_SIGNAL_1", "SCC_CONTROL"), ("MainMode_ACC", "SCC_CONTROL"), ("ACCMode", "SCC_CONTROL"), diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index f23d9d5328..afd1123260 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -7,23 +7,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): - values = {s: lkas11[s] for s in [ - "CF_Lkas_LdwsActivemode", - "CF_Lkas_LdwsSysState", - "CF_Lkas_SysWarning", - "CF_Lkas_LdwsLHWarning", - "CF_Lkas_LdwsRHWarning", - "CF_Lkas_HbaLamp", - "CF_Lkas_FcwBasReq", - "CF_Lkas_HbaSysState", - "CF_Lkas_FcwOpt", - "CF_Lkas_HbaOpt", - "CF_Lkas_FcwSysState", - "CF_Lkas_FcwCollisionWarning", - "CF_Lkas_FusionState", - "CF_Lkas_FcwOpt_USM", - "CF_Lkas_LdwsOpt_USM", - ]} + values = lkas11 values["CF_Lkas_LdwsSysState"] = sys_state values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0 values["CF_Lkas_LdwsLHWarning"] = left_lane_depart @@ -37,7 +21,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020): + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 @@ -95,20 +79,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, def create_clu11(packer, frame, clu11, button, car_fingerprint): - values = {s: clu11[s] for s in [ - "CF_Clu_CruiseSwState", - "CF_Clu_CruiseSwMain", - "CF_Clu_SldMainSW", - "CF_Clu_ParityBit1", - "CF_Clu_VanzDecimal", - "CF_Clu_Vanz", - "CF_Clu_SPEED_UNIT", - "CF_Clu_DetentOut", - "CF_Clu_RheostatLevel", - "CF_Clu_CluInfo", - "CF_Clu_AmpInfo", - "CF_Clu_AliveCnt1", - ]} + values = clu11 values["CF_Clu_CruiseSwState"] = button values["CF_Clu_AliveCnt1"] = frame % 0x10 # send buttons to camera on camera-scc based cars diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py index da9cff8225..c727649ffc 100644 --- a/selfdrive/car/hyundai/hyundaicanfd.py +++ b/selfdrive/car/hyundai/hyundaicanfd.py @@ -1,17 +1,15 @@ -import math - from common.numpy_fast import clip +from selfdrive.car import CanBusBase from selfdrive.car.hyundai.values import HyundaiFlags -class CanBus: - def __init__(self, CP, hda2=None, fingerprint=None): - if CP is None: - assert None not in (hda2, fingerprint) - num = math.ceil(max([k for k, v in fingerprint.items() if len(v)], default=1) / 4) - else: +class CanBus(CanBusBase): + def __init__(self, CP, hda2=None, fingerprint=None) -> None: + super().__init__(CP, fingerprint) + + if hda2 is None: + assert CP is not None hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value - num = len(CP.safetyConfigs) # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars # have a different harness than the HDA1 and non-HDA variants in order to split @@ -20,10 +18,9 @@ class CanBus: if hda2: self._a, self._e = 0, 1 - offset = 4*(num - 1) - self._a += offset - self._e += offset - self._cam = 2 + offset + self._a += self.offset + self._e += self.offset + self._cam = 2 + self.offset @property def ECAN(self): @@ -63,11 +60,11 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer): return ret -def create_cam_0x2a4(packer, CAN, cam_0x2a4): - values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)} - values['COUNTER'] = cam_0x2a4['COUNTER'] - values["BYTE7"] = 0 - return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values) +def create_cam_0x2a4(packer, CAN, camera_values): + camera_values.update({ + "BYTE7": 0, + }) + return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, camera_values) def create_buttons(packer, CP, CAN, cnt, btn): values = { @@ -79,30 +76,8 @@ def create_buttons(packer, CP, CAN, cnt, btn): bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM return packer.make_can_msg("CRUISE_BUTTONS", bus, values) -def create_acc_cancel(packer, CP, CAN, cruise_info_copy): - # TODO: why do we copy different values here? - if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value: - values = {s: cruise_info_copy[s] for s in [ - "COUNTER", - "CHECKSUM", - "NEW_SIGNAL_1", - "MainMode_ACC", - "ACCMode", - "CRUISE_INACTIVE", - "ZEROS_9", - "CRUISE_STANDSTILL", - "ZEROS_5", - "DISTANCE_SETTING", - "VSetDis", - ]} - else: - values = {s: cruise_info_copy[s] for s in [ - "COUNTER", - "CHECKSUM", - "ACCMode", - "VSetDis", - "CRUISE_STANDSTILL", - ]} +def create_acc_cancel(packer, CAN, cruise_info_copy): + values = cruise_info_copy values.update({ "ACCMode": 4, }) diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 59d7319de0..418068a5c5 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -311,7 +311,7 @@ class CarInterface(CarInterfaceBase): # for blinkers if CP.flags & HyundaiFlags.ENABLE_BLINKERS: - disable_ecu(logcan, sendcan, bus=CanBus(CP.ECAN), addr=0x7B1, com_cont_req=b'\x28\x83\x01') + disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01') def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index e14d22500c..98727264ce 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -2,7 +2,8 @@ import unittest from cereal import car -from selfdrive.car.hyundai.values import CANFD_CAR, FW_QUERY_CONFIG, FW_VERSIONS, CAN_GEARS, LEGACY_SAFETY_MODE_CAR, CHECKSUM, CAMERA_SCC_CAR +from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, FW_QUERY_CONFIG, \ + FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, PART_NUMBER_FW_PATTERN Ecu = car.CarParams.Ecu ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()} @@ -32,6 +33,81 @@ class TestHyundaiFingerprint(unittest.TestCase): common_fw = set(fw).intersection(blacklisted_fw[ecu]) self.assertTrue(len(common_fw) == 0, f'{car_model}: Blacklisted fw version found in database: {common_fw}') + def test_platform_code_ecus_available(self): + no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, + CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80} + + # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model): + for fuzzy_ecu in FW_QUERY_CONFIG.platform_code_ecus: + if fuzzy_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS: + continue + if fuzzy_ecu == Ecu.eps and car_model in no_eps_platforms: + continue + self.assertIn(fuzzy_ecu, [e[0] for e in ecus]) + + def test_fw_part_number(self): + # Hyundai places the ECU part number in their FW versions, assert all parsable + # Some examples of valid formats: '56310-L0010', '56310L0010', '56310/M6300' + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model): + if car_model == CAR.HYUNDAI_GENESIS: + raise unittest.SkipTest("No part numbers for car model") + + for ecu, fws in ecus.items(): + if ecu[0] not in FW_QUERY_CONFIG.platform_code_ecus: + continue + + for fw in fws: + match = PART_NUMBER_FW_PATTERN.search(fw) + self.assertIsNotNone(match, fw) + + def test_fuzzy_fw_dates(self): + # Some newer platforms have date codes in a different format we don't yet parse, + # for now assert date format is consistent for all FW across each platform + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model): + for ecu, fws in ecus.items(): + if ecu[0] not in FW_QUERY_CONFIG.platform_code_ecus: + continue + + codes = set() + for fw in fws: + codes |= FW_QUERY_CONFIG.fuzzy_get_platform_codes([fw]) + + # Either no dates should be parsed or all dates should be parsed + self.assertEqual(len({b'-' in code for code in codes}), 1) + + def test_fuzzy_platform_codes(self): + # Asserts basic platform code parsing behavior + codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00DH LKAS 1.1 -150210']) + self.assertEqual(codes, {b"DH-1502"}) + + # Some cameras and all radars do not have dates + codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ']) + self.assertEqual(codes, {b"AEhe"}) + + codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ']) + self.assertEqual(codes, {b"CV1"}) + + codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([ + b'\xf1\x00DH LKAS 1.1 -150210', + b'\xf1\x00AEhe SCC H-CUP 1.01 1.01 96400-G2000 ', + b'\xf1\x00CV1_ RDR ----- 1.00 1.01 99110-CV000 ', + ]) + self.assertEqual(codes, {b"DH-1502", b"AEhe", b"CV1"}) + + # Returned platform codes must inclusively contain start/end dates + codes = FW_QUERY_CONFIG.fuzzy_get_platform_codes([ + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.07 99211-S8100 220222', + b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.08 99211-S8100 211103', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.01 99211-S9100 190405', + b'\xf1\x00ON MFC AT USA LHD 1.00 1.03 99211-S9100 190720', + ]) + self.assertEqual(codes, {b'LX2-2111', b'LX2-2112', b'LX2-2201', b'LX2-2202', + b'ON-1904', b'ON-1905', b'ON-1906', b'ON-1907'}) + if __name__ == "__main__": unittest.main() diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 37bfe54337..09ed9b6244 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,13 +1,18 @@ +import re +from datetime import datetime +from dateutil import rrule +from collections import defaultdict from dataclasses import dataclass from enum import Enum, IntFlag -from typing import Dict, List, Optional, Union +from typing import DefaultDict, Dict, List, Optional, Set, Union from cereal import car from panda.python import uds from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 +from system.swaglog import cloudlog Ecu = car.CarParams.Ecu @@ -147,114 +152,114 @@ class HyundaiCarInfo(CarInfo): CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = { CAR.ELANTRA: [ - HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_b])), - HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarPart.hyundai_e])), - HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarPart.hyundai_e])), + HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarPart.hyundai_k])), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarPart.hyundai_k])), + CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), CAR.HYUNDAI_GENESIS: [ - HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_j])), # TODO: check 2015 packages - HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_j])), + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), # TODO: check 2015 packages + HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), ], - CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarPart.hyundai_c])), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarPart.hyundai_h])), # TODO: confirm 2020-21 harness - CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarPart.hyundai_c])), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarPart.hyundai_h])), - CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarPart.hyundai_c])), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_h])), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarPart.hyundai_b])), - CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarPart.hyundai_g])), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarPart.hyundai_o])), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarPart.hyundai_i])), # TODO: check packages - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarPart.hyundai_d])), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarPart.hyundai_l])), - CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_l])), - CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarPart.hyundai_l])), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarPart.hyundai_a])), - CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarPart.hyundai_e])), + CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness + CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), + CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])), + CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages + CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_l])), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarPart.hyundai_l])), + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), ], CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarPart.hyundai_h])), - HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_h])), + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_e])), - CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), + CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.IONIQ_5: [ - HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_q])), - HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarPart.hyundai_k])), - HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarPart.hyundai_q])), + HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], CAR.TUCSON_4TH_GEN: [ - HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarPart.hyundai_n])), - HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarPart.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], - CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_n])), - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarPart.hyundai_n])), + CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), # Kia CAR.KIA_FORTE: [ - HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarPart.hyundai_g])), - HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarPart.hyundai_e])), + HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarPart.hyundai_a])), - CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_h])), - HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_f])), - HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_c])), - HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarPart.hyundai_h])), + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), ], - CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarPart.hyundai_a])), + CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), CAR.KIA_NIRO_PHEV: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarPart.hyundai_c])), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarPart.hyundai_d])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarPart.hyundai_f])), # TODO: 2021 could be hyundai_d, verify + HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])), # TODO: 2021 could be hyundai_d, verify ], - CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarPart.hyundai_a])), - CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarPart.hyundai_b])), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarPart.hyundai_g])), + CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 + CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), CAR.KIA_OPTIMA_H: [ HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"), # TODO: may support adjacent years HyundaiCarInfo("Kia Optima Hybrid 2019"), ], - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarPart.hyundai_a])), - CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarPart.hyundai_n])), + CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarPart.hyundai_c])), - HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarPart.hyundai_e])), + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarPart.hyundai_k])), - CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarPart.hyundai_a])), - CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarPart.hyundai_n])), - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarPart.hyundai_c])), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarPart.hyundai_k])), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarPart.hyundai_e])), + CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", car_parts=CarParts.common([CarHarness.hyundai_a])), + CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CAR.KIA_EV6: [ - HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_p])), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarPart.hyundai_l])), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarPart.hyundai_p])) + HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], # Genesis CAR.GENESIS_GV60_EV_1ST_GEN: [ - HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarPart.hyundai_a])), - HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarPart.hyundai_k])), + HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], - CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarPart.hyundai_f])), - CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarPart.hyundai_f])), + CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CAR.GENESIS_GV70_1ST_GEN: [ - HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_l])), - HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarPart.hyundai_m])), + HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), ], - CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarPart.hyundai_h])), - CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarPart.hyundai_c])), - CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarPart.hyundai_m])), + CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), } class Buttons: @@ -342,6 +347,36 @@ FINGERPRINTS = { }], } + +def get_platform_codes(fw_versions: List[bytes]) -> Set[bytes]: + codes: DefaultDict[bytes, Set[bytes]] = defaultdict(set) + for fw in fw_versions: + match = PLATFORM_CODE_FW_PATTERN.search(fw) + if match is not None: + code, date = match.groups() + codes[code].add(date) + + # Create platform codes for all dates inclusive if ECU has FW dates + final_codes = set() + for code, dates in codes.items(): + # Radar and some cameras don't have FW dates + if None in dates: + final_codes.add(code) + continue + + try: + parsed = {datetime.strptime(date.decode()[:4], '%y%m') for date in dates} + except ValueError: + cloudlog.exception(f'Error parsing date in FW versions: {code!r}, {dates}') + final_codes.add(code) + continue + + for date in rrule.rrule(rrule.MONTHLY, dtstart=min(parsed), until=max(parsed)): + final_codes.add(code + b'-' + date.strftime('%y%m').encode()) + + return final_codes + + HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xf100) # Long description @@ -355,6 +390,11 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER] HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) +# Regex patterns for parsing platform code, FW date, and part number from FW versions +PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] + + b')[A-Z]{2}[A-Za-z0-9]{0,2})(?:.*([0-9]{6}))?') +PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])') + FW_QUERY_CONFIG = FwQueryConfig( requests=[ # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD @@ -411,6 +451,10 @@ FW_QUERY_CONFIG = FwQueryConfig( (Ecu.hvac, 0x7b3, None), # HVAC Control Assembly (Ecu.cornerRadar, 0x7b7, None), ], + fuzzy_get_platform_codes=get_platform_codes, + # Camera and radar should exist on all cars + # TODO: use abs, it has the platform code and part number on many platforms + platform_code_ecus=[Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps], ) FW_VERSIONS = { @@ -542,14 +586,11 @@ FW_VERSIONS = { }, CAR.SONATA: { (Ecu.fwdRadar, 0x7d0, None): [ - b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', - b'\xf1\x00DN8 1.00 99110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x00DN8_ SCC F-CU- 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC F-CUP 1.00 1.02 99110-L1000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ', b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ', - b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ', ], (Ecu.abs, 0x7d1, None): [ b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100', @@ -590,11 +631,9 @@ FW_VERSIONS = { b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102', b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware - b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101', b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100', - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101', b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101', b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101', b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103', @@ -755,7 +794,7 @@ FW_VERSIONS = { b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8409', b'\xf1\x00TM MDPS C 1.00 1.00 56340-S2000 8A12', b'\xf1\x00TM MDPS C 1.00 1.01 56340-S2000 9129', - b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102' + b'\xf1\x00TM MDPS R 1.00 1.02 57700-S1100 4TMDP102', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TM MFC AT EUR LHD 1.00 1.01 99211-S1010 181207', @@ -850,12 +889,14 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLAC0 4TSHC102', + b'\xf1\x00TM MDPS C 1.00 1.02 56310-CLEC0 4TSHC102', b'\xf1\x00TM MDPS R 1.00 1.05 57700-CL000 4TSHP105', b'\xf1\x00TM MDPS C 1.00 1.02 56310-GA000 4TSHA100', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00TMH MFC AT EUR LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMH MFC AT USA LHD 1.00 1.03 99211-S1500 210224', + b'\xf1\x00TMH MFC AT USA LHD 1.00 1.06 99211-S1500 220727', b'\xf1\x00TMA MFC AT USA LHD 1.00 1.03 99211-S2500 220414', ], (Ecu.transmission, 0x7e1, None): [ @@ -1105,12 +1146,14 @@ FW_VERSIONS = { b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9220 4I2VL107', b'\xf1\x00IK MDPS R 1.00 1.07 57700-G9420 4I4VL107', b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9420 4I4VL108', + b'\xf1\x00IK MDPS R 1.00 1.08 57700-G9200 4I2CL108', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00', b'\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL', b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81', + b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', @@ -1124,6 +1167,7 @@ FW_VERSIONS = { (Ecu.engine, 0x7e0, None): [ b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00', + b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00', ], }, CAR.GENESIS_G80: { @@ -1491,10 +1535,8 @@ FW_VERSIONS = { b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP 1.00 1.01 99110-AA000 ', ], (Ecu.eps, 0x7d4, None): [ - b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106', - b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', - b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06', b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106', + b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106', ], (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00CN7 MFC AT USA LHD 1.00 1.00 99210-AB000 200819', diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index 965d2e1836..8ab9728e5f 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -90,12 +90,14 @@ class IsoTpParallelQuery: for addr in self.functional_addrs: self._create_isotp_msg(addr, None, -1).send(self.request[0]) - # If querying functional addrs, set up physical IsoTpMessages to send consecutive frames + # Send first frame (single or first) to all addresses and receive asynchronously in the loop below. + # If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames for msg in msgs.values(): msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0) results = {} start_time = time.monotonic() + addrs_responded = set() # track addresses that have ever sent a valid iso-tp frame for timeout logging response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs} while True: self.rx() @@ -110,6 +112,7 @@ class IsoTpParallelQuery: # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses if rx_in_progress: + addrs_responded.add(tx_addr) response_timeouts[tx_addr] = time.monotonic() + timeout if not dat: @@ -117,7 +120,7 @@ class IsoTpParallelQuery: counter = request_counter[tx_addr] expected_response = self.response[counter] - response_valid = dat[:len(expected_response)] == expected_response + response_valid = dat.startswith(expected_response) if response_valid: if counter + 1 < len(self.request): @@ -140,8 +143,14 @@ class IsoTpParallelQuery: cur_time = time.monotonic() for tx_addr in response_timeouts: if cur_time - response_timeouts[tx_addr] > 0: - if request_counter[tx_addr] > 0 and not request_done[tx_addr]: - cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}") + if not request_done[tx_addr]: + if request_counter[tx_addr] > 0: + cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}") + elif tx_addr in addrs_responded: + cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}") + # TODO: handle functional addresses + # else: + # cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}") request_done[tx_addr] = True # Break if all requests are done (finished or timed out) diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index 3b29a25621..58a505f917 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -44,6 +44,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): csum = csum % 256 + values = {} if car_fingerprint in GEN1: values = { "LKAS_REQUEST": apply_steer, diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 864462186e..3fbf34e5fe 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -3,7 +3,7 @@ from typing import Dict, List, Union from cereal import car from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -37,7 +37,7 @@ class CAR: @dataclass class MazdaCarInfo(CarInfo): package: str = "All" - car_parts: CarParts = CarParts.common([CarPart.mazda]) + car_parts: CarParts = CarParts.common([CarHarness.mazda]) CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = { diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py index bbba92ddeb..7fbc807665 100644 --- a/selfdrive/car/nissan/carstate.py +++ b/selfdrive/car/nissan/carstate.py @@ -171,6 +171,7 @@ class CarState(CarStateBase): ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"), ("NEW_SIGNAL_2", "CRUISE_THROTTLE"), ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"), + ("COUNTER", "CRUISE_THROTTLE"), ("unsure1", "CRUISE_THROTTLE"), ("unsure2", "CRUISE_THROTTLE"), ("unsure3", "CRUISE_THROTTLE"), diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 1669151025..568c33630b 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -4,7 +4,7 @@ from typing import Dict, List, Optional, Union from cereal import car from panda.python import uds from selfdrive.car import AngleRateLimit, dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts +from selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -30,13 +30,10 @@ class CAR: ALTIMA = "NISSAN ALTIMA 2020" -NISSAN_PARTS: List[CarPart] = [CarPart.harness_box, CarPart.rj45_cable_7ft, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft] - - @dataclass class NissanCarInfo(CarInfo): package: str = "ProPILOT Assist" - car_parts: CarParts = CarParts([CarPart.nissan_a] + NISSAN_PARTS) + car_parts: CarParts = CarParts.common([CarHarness.nissan_a]) CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { @@ -44,7 +41,7 @@ CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = { CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), CAR.LEAF_IC: None, # same platforms CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"), - CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts([CarPart.nissan_b] + NISSAN_PARTS)), + CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), } FINGERPRINTS = { @@ -171,9 +168,9 @@ FW_VERSIONS = { } DBC = { - CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None), - CAR.LEAF: dbc_dict('nissan_leaf_2018', None), - CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None), - CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None), - CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None), + CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None), + CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None), + CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None), + CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None), + CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None), } diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py index ae3305fbe4..c6ef0f11da 100644 --- a/selfdrive/car/subaru/carcontroller.py +++ b/selfdrive/car/subaru/carcontroller.py @@ -36,9 +36,9 @@ class CarController: apply_steer = 0 if self.CP.carFingerprint in PREGLOBAL_CARS: - can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer)) + can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive)) else: - can_sends.append(subarucan.create_steering_control(self.packer, apply_steer)) + can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive)) self.apply_steer_last = apply_steer @@ -76,7 +76,7 @@ class CarController: can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)) - + if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT: can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert)) diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py index 9d7b0a65cc..8ce31b1842 100644 --- a/selfdrive/car/subaru/carstate.py +++ b/selfdrive/car/subaru/carstate.py @@ -110,6 +110,7 @@ class CarState(CarStateBase): def get_global_es_distance_signals(): signals = [ ("COUNTER", "ES_Distance"), + ("CHECKSUM", "ES_Distance"), ("Signal1", "ES_Distance"), ("Cruise_Fault", "ES_Distance"), ("Cruise_Throttle", "ES_Distance"), @@ -251,6 +252,7 @@ class CarState(CarStateBase): else: signals = [ ("COUNTER", "ES_DashStatus"), + ("CHECKSUM", "ES_DashStatus"), ("PCB_Off", "ES_DashStatus"), ("LDW_Off", "ES_DashStatus"), ("Signal1", "ES_DashStatus"), @@ -278,6 +280,7 @@ class CarState(CarStateBase): ("Cruise_State", "ES_DashStatus"), ("COUNTER", "ES_LKAS_State"), + ("CHECKSUM", "ES_LKAS_State"), ("LKAS_Alert_Msg", "ES_LKAS_State"), ("Signal1", "ES_LKAS_State"), ("LKAS_ACTIVE", "ES_LKAS_State"), @@ -305,6 +308,8 @@ class CarState(CarStateBase): if CP.flags & SubaruFlags.SEND_INFOTAINMENT: signals += [ + ("COUNTER", "INFOTAINMENT_STATUS"), + ("CHECKSUM", "INFOTAINMENT_STATUS"), ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"), ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"), ("Signal1", "INFOTAINMENT_STATUS"), diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py index bc9bf4c0a0..033ba7f76b 100644 --- a/selfdrive/car/subaru/subarucan.py +++ b/selfdrive/car/subaru/subarucan.py @@ -3,10 +3,10 @@ from cereal import car VisualAlert = car.CarControl.HUDControl.VisualAlert -def create_steering_control(packer, apply_steer): +def create_steering_control(packer, apply_steer, steer_req): values = { "LKAS_Output": apply_steer, - "LKAS_Request": 1 if apply_steer != 0 else 0, + "LKAS_Request": steer_req, "SET_1": 1 } return packer.make_can_msg("ES_LKAS", 0, values) @@ -174,10 +174,10 @@ def subaru_preglobal_checksum(packer, values, addr): return (sum(dat[:7])) % 256 -def create_preglobal_steering_control(packer, apply_steer): +def create_preglobal_steering_control(packer, apply_steer, steer_req): values = { "LKAS_Command": apply_steer, - "LKAS_Active": 1 if apply_steer != 0 else 0 + "LKAS_Active": steer_req, } values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS") diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 660bdcaaab..12367d9b5a 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -5,7 +5,7 @@ from typing import Dict, List, Union from cereal import car from panda.python import uds from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarInfo, CarPart, CarParts +from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 Ecu = car.CarParams.Ecu @@ -53,13 +53,13 @@ class CAR: @dataclass class SubaruCarInfo(CarInfo): package: str = "EyeSight Driver Assistance" - car_parts: CarParts = CarParts.common([CarPart.subaru_a]) + car_parts: CarParts = CarParts.common([CarHarness.subaru_a]) CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = { CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"), - CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarPart.subaru_b])), - CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarPart.subaru_b])), + CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), + CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), CAR.IMPREZA: [ SubaruCarInfo("Subaru Impreza 2017-19"), SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py index 1f18c3d0ea..aeaaba88e7 100644 --- a/selfdrive/car/tesla/carcontroller.py +++ b/selfdrive/car/tesla/carcontroller.py @@ -24,17 +24,18 @@ class CarController: hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3 lkas_enabled = CC.latActive and not hands_on_fault - if lkas_enabled: - # Angular rate limit based on speed - apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) + if self.frame % 2 == 0: + if lkas_enabled: + # Angular rate limit based on speed + apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams) - # To not fault the EPS - apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) - else: - apply_angle = CS.out.steeringAngleDeg + # To not fault the EPS + apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20) + else: + apply_angle = CS.out.steeringAngleDeg - self.apply_angle_last = apply_angle - can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame)) + self.apply_angle_last = apply_angle + can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16)) # Longitudinal control (in sync with stock message, about 40Hz) if self.CP.openpilotLongitudinalControl: @@ -59,7 +60,7 @@ class CarController: # TODO: HUD control new_actuators = actuators.copy() - new_actuators.steeringAngleDeg = apply_angle + new_actuators.steeringAngleDeg = self.apply_angle_last self.frame += 1 return new_actuators, can_sends diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py index c84f2c45be..a491c030f8 100644 --- a/selfdrive/car/tesla/teslacan.py +++ b/selfdrive/car/tesla/teslacan.py @@ -17,12 +17,12 @@ class TeslaCAN: ret += sum(dat) return ret & 0xFF - def create_steering_control(self, angle, enabled, frame): + def create_steering_control(self, angle, enabled, counter): values = { "DAS_steeringAngleRequest": -angle, "DAS_steeringHapticRequest": 0, "DAS_steeringControlType": 1 if enabled else 0, - "DAS_steeringControlCounter": (frame % 16), + "DAS_steeringControlCounter": counter, } data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2] diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index bac025a9c5..f79e5f0097 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -103,8 +103,8 @@ BUTTONS = [ ] class CarControllerParams: - ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15]) - ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4]) + ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3]) + ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8]) JERK_LIMIT_MAX = 8 JERK_LIMIT_MIN = -8 ACCEL_TO_SPEED_MULTIPLIER = 3 diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 4b53489b73..7ea9f6c9fe 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -1,12 +1,16 @@ #!/usr/bin/env python3 from collections import defaultdict +import os import re import unittest +from common.basedir import BASEDIR from selfdrive.car.car_helpers import interfaces, get_interface_attr from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info -from selfdrive.car.docs_definitions import CarPart, Column, PartType, Star +from selfdrive.car.docs_definitions import Cable, Column, PartType, Star from selfdrive.car.honda.values import CAR as HONDA +from selfdrive.debug.dump_car_info import dump_car_info +from selfdrive.debug.print_docs_diff import print_car_info_diff class TestCarDocs(unittest.TestCase): @@ -22,6 +26,12 @@ class TestCarDocs(unittest.TestCase): self.assertEqual(generated_cars_md, current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation") + def test_docs_diff(self): + dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump") + dump_car_info(dump_path) + print_car_info_diff(dump_path) + os.remove(dump_path) + def test_duplicate_years(self): make_model_years = defaultdict(list) for car in self.all_cars: @@ -74,11 +84,12 @@ class TestCarDocs(unittest.TestCase): if car.name == "comma body": raise unittest.SkipTest - car_part_type = [p.value.type for p in car.car_parts.parts] - self.assertTrue(len(car.car_parts.parts) > 0, f"Need to specify car parts: {car.name}") + car_part_type = [p.type for p in car.car_parts.all_parts()] + car_parts = [p for p in car.car_parts.all_parts()] + self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}") self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}") self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}") - self.assertTrue(CarPart.right_angle_obd_c_cable_1_5ft in car.car_parts.parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}") + self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}") if __name__ == "__main__": diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index c069280d11..97441f89af 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -10,7 +10,7 @@ from cereal import car from common.params import Params from selfdrive.car.car_helpers import interfaces from selfdrive.car.fingerprints import FW_VERSIONS -from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, VERSIONS, match_fw_to_car, get_fw_versions +from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, match_fw_to_car, get_fw_versions CarFw = car.CarParams.CarFw Ecu = car.CarParams.Ecu @@ -33,27 +33,51 @@ class TestFwFingerprint(unittest.TestCase): self.assertEqual(candidates[0], expected) @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) - def test_fw_fingerprint(self, brand, car_model, ecus): + def test_exact_match(self, brand, car_model, ecus): CP = car.CarParams.new_message() for _ in range(200): fw = [] for ecu, fw_versions in ecus.items(): - if not len(fw_versions): - raise unittest.SkipTest("Car model has no FW versions") ecu_name, addr, sub_addr = ecu fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand, "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) CP.carFw = fw - _, matches = match_fw_to_car(CP.carFw) + _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False) self.assertFingerprints(matches, car_model) - def test_no_duplicate_fw_versions(self): + @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e]) + def test_fuzzy_match_ecu_count(self, brand, car_model, ecus): + # Asserts that fuzzy matching does not count matching FW, but ECU address keys + valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS] + if not len(valid_ecus): + raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching") + + fw = [] + for ecu in valid_ecus: + ecu_name, addr, sub_addr = ecu + for _ in range(5): + # Add multiple FW versions to simulate ECU returning to multiple queries in a brand + fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand, + "address": addr, "subAddress": 0 if sub_addr is None else sub_addr}) + CP = car.CarParams.new_message(carFw=fw) + _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False) + + # Assert no match if there are not enough unique ECUs + unique_ecus = {(f['address'], f['subAddress']) for f in fw} + if len(unique_ecus) < 2: + self.assertEqual(len(matches), 0, car_model) + # There won't always be a match due to shared FW, but if there is it should be correct + elif len(matches): + self.assertFingerprints(matches, car_model) + + def test_fw_version_lists(self): for car_model, ecus in FW_VERSIONS.items(): with self.subTest(car_model=car_model): for ecu, ecu_fw in ecus.items(): with self.subTest(ecu): duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1} - self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}") + self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}') + self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}') def test_all_addrs_map_to_one_ecu(self): for brand, cars in VERSIONS.items(): @@ -99,6 +123,21 @@ class TestFwFingerprint(unittest.TestCase): with self.subTest(): self.fail(f"Brands do not implement FW_QUERY_CONFIG: {brand_versions - brand_configs}") + def test_fuzzy_fingerprint_config(self): + for brand, config in FW_QUERY_CONFIGS.items(): + with self.subTest(brand=brand): + if config.fuzzy_get_platform_codes is None: + self.assertEqual(len(config.platform_code_ecus), 0, "Cannot specify platform code ECUs without full config") + else: + self.assertGreater(len(config.platform_code_ecus), 0, "Need to specify platform code ECUs") + + # Assert every supported ECU FW version returns one platform code + for fw_by_addr in VERSIONS[brand].values(): + for addr, fws in fw_by_addr.items(): + if addr[0] in config.platform_code_ecus: + for f in fws: + self.assertEqual(1, len(config.fuzzy_get_platform_codes([f])), f"Unable to parse FW: {f}") + def test_fw_request_ecu_whitelist(self): for brand, config in FW_QUERY_CONFIGS.items(): with self.subTest(brand=brand): diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 5738ba30f5..422c7560fe 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -6,7 +6,7 @@ from typing import Dict, List, Union from cereal import car from common.conversions import Conversions as CV from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarPart, CarParts +from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu @@ -102,7 +102,7 @@ class Footnote(Enum): @dataclass class ToyotaCarInfo(CarInfo): package: str = "All" - car_parts: CarParts = CarParts.common([CarPart.toyota]) + car_parts: CarParts = CarParts.common([CarHarness.toyota]) CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = { @@ -1131,7 +1131,6 @@ FW_VERSIONS = { b'\x01896630EF8000\x00\x00\x00\x00', b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', - b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00', ], diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 7fe29674a4..0f211546bd 100755 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -7,7 +7,8 @@ from cereal import car from panda.python import uds from opendbc.can.can_define import CANDefine from selfdrive.car import dbc_dict -from selfdrive.car.docs_definitions import CarFootnote, CarInfo, CarPart, CarParts, Column +from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \ + Device from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 Ecu = car.CarParams.Ecu @@ -153,7 +154,11 @@ class Footnote(Enum): PASSAT = CarFootnote( "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.", Column.MODEL) - VW_EXP_LONG = CarFootnote ( + SKODA_HEATED_WINDSHIELD = CarFootnote( + "Some Škoda vehicles are equipped with heated windshields, which are known " + + "to block GPS signal needed for some comma three functionality.", + Column.MODEL) + VW_EXP_LONG = CarFootnote( "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " + "are limited to using stock ACC.", Column.LONGITUDINAL) @@ -166,10 +171,15 @@ class Footnote(Enum): @dataclass class VWCarInfo(CarInfo): package: str = "Adaptive Cruise Control (ACC) & Lane Assist" - car_parts: CarParts = CarParts([CarPart.j533, CarPart.harness_box, CarPart.long_obdc_cable, CarPart.usbc_coupler, CarPart.mount, CarPart.right_angle_obd_c_cable_1_5ft]) + car_parts: CarParts = CarParts.common([CarHarness.j533]) def init_make(self, CP: car.CarParams): - self.footnotes.insert(0, Footnote.VW_EXP_LONG) + self.footnotes.append(Footnote.VW_EXP_LONG) + if "SKODA" in CP.carFingerprint: + self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD) + + if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61): + self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533]) CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = { @@ -913,6 +923,7 @@ FW_VERSIONS = { b'\xf1\x8704E906027CJ\xf1\x897798', b'\xf1\x8704L997022N \xf1\x899459', b'\xf1\x875G0906259A \xf1\x890004', + b'\xf1\x875G0906259D \xf1\x890002', b'\xf1\x875G0906259L \xf1\x890002', b'\xf1\x875G0906259Q \xf1\x890002', b'\xf1\x878V0906259F \xf1\x890002', @@ -922,7 +933,7 @@ FW_VERSIONS = { b'\xf1\x878V0906264B \xf1\x890003', b'\xf1\x878V0907115B \xf1\x890007', b'\xf1\x878V0907404A \xf1\x890005', - b'\xf1\x875G0906259D \xf1\x890002', + b'\xf1\x878V0907404G \xf1\x890005', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300044T \xf1\x895245', @@ -939,6 +950,7 @@ FW_VERSIONS = { b'\xf1\x870DD300046F \xf1\x891602', b'\xf1\x870DD300046G \xf1\x891601', b'\xf1\x870DL300012E \xf1\x892012', + b'\xf1\x870DL300012H \xf1\x892112', b'\xf1\x870GC300011 \xf1\x890403', b'\xf1\x870GC300013M \xf1\x892402', b'\xf1\x870GC300042J \xf1\x891402', @@ -951,9 +963,9 @@ FW_VERSIONS = { b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221', - b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221', b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221', + b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114', b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114', ], @@ -962,6 +974,7 @@ FW_VERSIONS = { b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1', b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1', + b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1', b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0', @@ -1054,21 +1067,25 @@ FW_VERSIONS = { b'\xf1\x8704L906056CR\xf1\x892797', b'\xf1\x8705E906018AS\xf1\x899596', b'\xf1\x878V0906264H \xf1\x890005', + b'\xf1\x878V0907115E \xf1\x890002', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870CW300041D \xf1\x891004', b'\xf1\x870CW300041G \xf1\x891003', b'\xf1\x870CW300050J \xf1\x891908', b'\xf1\x870D9300042M \xf1\x895016', + b'\xf1\x870GC300043A \xf1\x892304', ], (Ecu.srs, 0x715, None): [ b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200', b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200', b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900', + b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900', b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1', b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1', b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0', b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1', @@ -1117,6 +1134,7 @@ FW_VERSIONS = { }, CAR.SKODA_KAROQ_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906018P \xf1\x895472', b'\xf1\x8705E906018P \xf1\x896020', b'\xf1\x8705L906022BS\xf1\x890913', ], @@ -1125,14 +1143,17 @@ FW_VERSIONS = { b'\xf1\x870GC300014L \xf1\x892802', ], (Ecu.srs, 0x715, None): [ + b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100', b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100', b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00', ], (Ecu.eps, 0x712, None): [ + b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', ], (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x872Q0907572AB\xf1\x890397', b'\xf1\x872Q0907572M \xf1\x890233', b'\xf1\x872Q0907572T \xf1\x890383', ], @@ -1140,6 +1161,7 @@ FW_VERSIONS = { CAR.SKODA_KODIAQ_MK1: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704E906027DD\xf1\x893123', + b'\xf1\x8704E906027NB\xf1\x896517', b'\xf1\x8704L906026DE\xf1\x895418', b'\xf1\x8704L906026EJ\xf1\x893661', b'\xf1\x8704L906026HT\xf1\x893617', @@ -1148,6 +1170,7 @@ FW_VERSIONS = { b'\xf1\x8705E906018DJ\xf1\x891903', b'\xf1\x875NA907115E \xf1\x890003', b'\xf1\x875NA907115E \xf1\x890005', + b'\xf1\x875NA906259E \xf1\x890003', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x870D9300043 \xf1\x895202', @@ -1156,6 +1179,7 @@ FW_VERSIONS = { b'\xf1\x870DL300012N \xf1\x892110', b'\xf1\x870DL300013G \xf1\x892119', b'\xf1\x870GC300014N \xf1\x892801', + b'\xf1\x870GC300019H \xf1\x892806', b'\xf1\x870GC300046Q \xf1\x892802', ], (Ecu.srs, 0x715, None): [ @@ -1165,6 +1189,7 @@ FW_VERSIONS = { b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100', b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111', b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00', + b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749', ], (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405', @@ -1172,6 +1197,7 @@ FW_VERSIONS = { b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600', + b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572Q \xf1\x890342', diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index a584a44cb9..f2f9cef862 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -9,6 +9,7 @@ from common.realtime import sec_since_boot, config_realtime_process, Priority, R from common.profiler import Profiler from common.params import Params, put_nonblocking import cereal.messaging as messaging +from cereal.visionipc import VisionIpcClient, VisionStreamType from common.conversions import Conversions as CV from panda import ALTERNATIVE_EXPERIENCE from system.swaglog import cloudlog @@ -20,7 +21,6 @@ from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted from selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED from selfdrive.controls.lib.longcontrol import LongControl from selfdrive.controls.lib.latcontrol_pid import LatControlPID -from selfdrive.controls.lib.latcontrol_indi import LatControlINDI from selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD from selfdrive.controls.lib.latcontrol_torque import LatControlTorque from selfdrive.controls.lib.events import Events, ET @@ -34,6 +34,7 @@ LANE_DEPARTURE_THRESHOLD = 0.1 REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ +TESTING_CLOSET = "TESTING_CLOSET" in os.environ NOSENSOR = "NOSENSOR" in os.environ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} @@ -82,8 +83,6 @@ class Controls: ignore = ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] - if self.params.get_bool('WideCameraOnly'): - ignore += ['roadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets, @@ -151,8 +150,6 @@ class Controls: self.LaC = LatControlAngle(self.CP, self.CI) elif self.CP.lateralTuning.which() == 'pid': self.LaC = LatControlPID(self.CP, self.CI) - elif self.CP.lateralTuning.which() == 'indi': - self.LaC = LatControlINDI(self.CP, self.CI) elif self.CP.lateralTuning.which() == 'torque': self.LaC = LatControlTorque(self.CP, self.CI) @@ -172,6 +169,7 @@ class Controls: self.events_prev = [] self.current_alert_types = [ET.PERMANENT] self.logged_comm_issue = None + self.not_running_prev = None self.last_actuators = car.CarControl.Actuators.new_message() self.steer_limited = False self.desired_curvature = 0.0 @@ -263,7 +261,6 @@ class Controls: if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: # under 7% of space free no enable allowed self.events.add(EventName.outOfSpace) - # TODO: make tici threshold the same if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: self.events.add(EventName.lowMemory) @@ -332,6 +329,9 @@ class Controls: not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES): self.events.add(EventName.processNotRunning) + if not_running != self.not_running_prev: + cloudlog.event("process_not_running", not_running=not_running, error=True) + self.not_running_prev = not_running else: if not SIMULATION and not self.rk.lagging: if not self.sm.all_alive(self.camera_packets): @@ -373,7 +373,7 @@ class Controls: else: self.logged_comm_issue = None - if not self.sm['liveParameters'].valid: + if not self.sm['liveParameters'].valid and not TESTING_CLOSET: self.events.add(EventName.vehicleModelInvalid) if not self.sm['lateralPlan'].mpcSolutionValid: self.events.add(EventName.plannerError) @@ -437,6 +437,12 @@ class Controls: all_valid = CS.canValid and self.sm.all_checks() timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5) if all_valid or timed_out or SIMULATION: + available_streams = VisionIpcClient.available_streams("camerad", block=False) + if VisionStreamType.VISION_STREAM_ROAD not in available_streams: + self.sm.ignore_alive.append('roadCameraState') + if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: + self.sm.ignore_alive.append('wideRoadCameraState') + if not self.read_only: self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py index b935e24615..da358127c7 100644 --- a/selfdrive/controls/lib/events.py +++ b/selfdrive/controls/lib/events.py @@ -885,12 +885,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = { ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"), }, - EventName.brakeUnavailable: { - ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"), - ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"), - ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"), - }, - EventName.reverseGear: { ET.PERMANENT: Alert( "Reverse\nGear", diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py deleted file mode 100644 index dca82c6729..0000000000 --- a/selfdrive/controls/lib/latcontrol_indi.py +++ /dev/null @@ -1,120 +0,0 @@ -import math -import numpy as np - -from cereal import log -from common.filter_simple import FirstOrderFilter -from common.numpy_fast import clip, interp -from common.realtime import DT_CTRL -from selfdrive.controls.lib.latcontrol import LatControl - - -class LatControlINDI(LatControl): - def __init__(self, CP, CI): - super().__init__(CP, CI) - self.angle_steers_des = 0. - - A = np.array([[1.0, DT_CTRL, 0.0], - [0.0, 1.0, DT_CTRL], - [0.0, 0.0, 1.0]]) - C = np.array([[1.0, 0.0, 0.0], - [0.0, 1.0, 0.0]]) - - # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]]) - # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]]) - - # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R) - # K = np.transpose(K) - K = np.array([[7.30262179e-01, 2.07003658e-04], - [7.29394177e+00, 1.39159419e-02], - [1.71022442e+01, 3.38495381e-02]]) - - self.speed = 0. - - self.K = K - self.A_K = A - np.dot(K, C) - self.x = np.array([[0.], [0.], [0.]]) - - self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV) - self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV) - self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV) - self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV) - - self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL) - self.reset() - - @property - def RC(self): - return interp(self.speed, self._RC[0], self._RC[1]) - - @property - def G(self): - return interp(self.speed, self._G[0], self._G[1]) - - @property - def outer_loop_gain(self): - return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1]) - - @property - def inner_loop_gain(self): - return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1]) - - def reset(self): - super().reset() - self.steer_filter.x = 0. - self.speed = 0. - - def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk): - self.speed = CS.vEgo - # Update Kalman filter - y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]]) - self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y) - - indi_log = log.ControlsState.LateralINDIState.new_message() - indi_log.steeringAngleDeg = math.degrees(self.x[0]) - indi_log.steeringRateDeg = math.degrees(self.x[1]) - indi_log.steeringAccelDeg = math.degrees(self.x[2]) - - steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll) - steers_des += math.radians(params.angleOffsetDeg) - indi_log.steeringAngleDesiredDeg = math.degrees(steers_des) - - # desired rate is the desired rate of change in the setpoint, not the absolute desired curvature - rate_des = VM.get_steer_from_curvature(-desired_curvature_rate, CS.vEgo, 0) - indi_log.steeringRateDesiredDeg = math.degrees(rate_des) - - if not active: - indi_log.active = False - self.steer_filter.x = 0.0 - output_steer = 0 - else: - # Expected actuator value - self.steer_filter.update_alpha(self.RC) - self.steer_filter.update(last_actuators.steer) - - # Compute acceleration error - rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des - accel_sp = self.inner_loop_gain * (rate_sp - self.x[1]) - accel_error = accel_sp - self.x[2] - - # Compute change in actuator - g_inv = 1. / self.G - delta_u = g_inv * accel_error - - # If steering pressed, only allow wind down - if CS.steeringPressed and (delta_u * last_actuators.steer > 0): - delta_u = 0 - - output_steer = self.steer_filter.x + delta_u - - output_steer = clip(output_steer, -self.steer_max, self.steer_max) - - indi_log.active = True - indi_log.rateSetPoint = float(rate_sp) - indi_log.accelSetPoint = float(accel_sp) - indi_log.accelError = float(accel_error) - indi_log.delayedOutput = float(self.steer_filter.x) - indi_log.delta = float(delta_u) - indi_log.output = float(output_steer) - indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited) - - return float(output_steer), float(steers_des), indi_log diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index fc29aeb087..0593becba5 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -112,7 +112,7 @@ class LateralPlanner: self.last_cloudlog_t = t cloudlog.warning("Lateral mpc - nan: True") - if self.lat_mpc.cost > 20000. or mpc_nans: + if self.lat_mpc.cost > 1e6 or mpc_nans: self.solution_invalid_cnt += 1 else: self.solution_invalid_cnt = 0 diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py index 660002691a..23fb1b7790 100644 --- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py +++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 import os import numpy as np - +from cereal import log from common.realtime import sec_since_boot from common.numpy_fast import clip from system.swaglog import cloudlog @@ -54,18 +54,38 @@ FCW_IDXS = T_IDXS < 5.0 T_DIFFS = np.diff(T_IDXS, prepend=[0.]) MIN_ACCEL = -3.5 MAX_ACCEL = 2.0 -T_FOLLOW = 1.45 COMFORT_BRAKE = 2.5 STOP_DISTANCE = 6.0 +def get_jerk_factor(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.0 + elif personality==log.LongitudinalPersonality.standard: + return 1.0 + elif personality==log.LongitudinalPersonality.aggressive: + return 0.5 + else: + raise NotImplementedError("Longitudinal personality not supported") + + +def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard): + if personality==log.LongitudinalPersonality.relaxed: + return 1.75 + elif personality==log.LongitudinalPersonality.standard: + return 1.45 + elif personality==log.LongitudinalPersonality.aggressive: + return 1.25 + else: + raise NotImplementedError("Longitudinal personality not supported") + def get_stopped_equivalence_factor(v_lead): return (v_lead**2) / (2 * COMFORT_BRAKE) -def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW): +def get_safe_obstacle_distance(v_ego, t_follow): return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE -def desired_follow_distance(v_ego, v_lead): - return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead) +def desired_follow_distance(v_ego, v_lead, t_follow=get_T_FOLLOW()): + return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead) def gen_long_model(): @@ -161,7 +181,8 @@ def gen_long_ocp(): x0 = np.zeros(X_DIM) ocp.constraints.x0 = x0 - ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR]) + ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR]) + # We put all constraint cost weights to 0 and only set them at runtime cost_weights = np.zeros(CONSTR_DIM) @@ -249,10 +270,11 @@ class LongitudinalMpc: for i in range(N): self.solver.cost_set(i, 'Zl', Zl) - def set_weights(self, prev_accel_constraint=True): + def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard): + jerk_factor = get_jerk_factor(personality) if self.mode == 'acc': a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0 - cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST] + cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST] constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST] elif self.mode == 'blended': a_change_cost = 40.0 if prev_accel_constraint else 0 @@ -307,7 +329,8 @@ class LongitudinalMpc: self.cruise_min_a = min_a self.max_a = max_a - def update(self, radarstate, v_cruise, x, v, a, j): + def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard): + t_follow = get_T_FOLLOW(personality) v_ego = self.x0[1] self.status = radarstate.leadOne.status or radarstate.leadTwo.status @@ -334,7 +357,7 @@ class LongitudinalMpc: v_cruise_clipped = np.clip(v_cruise * np.ones(N+1), v_lower, v_upper) - cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped) + cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW()) x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle]) self.source = SOURCES[np.argmin(x_obstacles[0])] @@ -368,7 +391,7 @@ class LongitudinalMpc: self.params[:,2] = np.min(x_obstacles, axis=1) self.params[:,3] = np.copy(self.prev_a) - self.params[:,4] = T_FOLLOW + self.params[:,4] = t_follow self.run() if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and @@ -380,9 +403,9 @@ class LongitudinalMpc: # Check if it got within lead comfort range # TODO This should be done cleaner if self.mode == 'blended': - if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0): + if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0): self.source = 'lead0' - if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \ + if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \ (lead_1_obstacle[0] - lead_0_obstacle[0]): self.source = 'lead1' diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 3089499687..a9c3cc7804 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -2,6 +2,8 @@ import math import numpy as np from common.numpy_fast import clip, interp +from common.params import Params +from cereal import log import cereal.messaging as messaging from common.conversions import Conversions as CV @@ -57,6 +59,16 @@ class LongitudinalPlanner: self.a_desired_trajectory = np.zeros(CONTROL_N) self.j_desired_trajectory = np.zeros(CONTROL_N) self.solverExecutionTime = 0.0 + self.params = Params() + self.param_read_counter = 0 + self.read_param() + self.personality = log.LongitudinalPersonality.standard + + def read_param(self): + try: + self.personality = int(self.params.get('LongitudinalPersonality')) + except (ValueError, TypeError): + self.personality = log.LongitudinalPersonality.standard @staticmethod def parse_model(model_msg, model_error): @@ -75,6 +87,9 @@ class LongitudinalPlanner: return x, v, a, j def update(self, sm): + if self.param_read_counter % 50 == 0: + self.read_param() + self.param_read_counter += 1 self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc' v_ego = sm['carState'].vEgo @@ -114,11 +129,11 @@ class LongitudinalPlanner: accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05) accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05) - self.mpc.set_weights(prev_accel_constraint) + self.mpc.set_weights(prev_accel_constraint, personality=self.personality) self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1]) self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired) x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error) - self.mpc.update(sm['radarState'], v_cruise, x, v, a, j) + self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality) self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution) self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution) @@ -154,5 +169,6 @@ class LongitudinalPlanner: longitudinalPlan.fcw = self.fcw longitudinalPlan.solverExecutionTime = self.mpc.solve_time + longitudinalPlan.personality = self.personality pm.send('longitudinalPlan', plan_send) diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py index 4bb0179267..4184340dc5 100644 --- a/selfdrive/controls/lib/radar_helpers.py +++ b/selfdrive/controls/lib/radar_helpers.py @@ -130,15 +130,16 @@ class Cluster(): "aLeadTau": float(self.aLeadTau) } - def get_RadarState_from_vision(self, lead_msg, v_ego): + def get_RadarState_from_vision(self, lead_msg, v_ego, model_v_ego): + lead_v_rel_pred = lead_msg.v[0] - model_v_ego return { "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA), "yRel": float(-lead_msg.y[0]), - "vRel": float(lead_msg.v[0] - v_ego), - "vLead": float(lead_msg.v[0]), - "vLeadK": float(lead_msg.v[0]), - "aLeadK": float(0), - "aLeadTau": _LEAD_ACCEL_TAU, + "vRel": float(lead_v_rel_pred), + "vLead": float(v_ego + lead_v_rel_pred), + "vLeadK": float(v_ego + lead_v_rel_pred), + "aLeadK": 0.0, + "aLeadTau": 0.3, "fcw": False, "modelProb": float(lead_msg.prob), "radar": False, diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py index 993774f719..b504b3d125 100755 --- a/selfdrive/controls/lib/tests/test_latcontrol.py +++ b/selfdrive/controls/lib/tests/test_latcontrol.py @@ -10,14 +10,13 @@ from selfdrive.car.toyota.values import CAR as TOYOTA from selfdrive.car.nissan.values import CAR as NISSAN from selfdrive.controls.lib.latcontrol_pid import LatControlPID from selfdrive.controls.lib.latcontrol_torque import LatControlTorque -from selfdrive.controls.lib.latcontrol_indi import LatControlINDI from selfdrive.controls.lib.latcontrol_angle import LatControlAngle from selfdrive.controls.lib.vehicle_model import VehicleModel class TestLatControl(unittest.TestCase): - @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)]) + @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (NISSAN.LEAF, LatControlAngle)]) def test_saturation(self, car_name, controller): CarInterface, CarController, CarState = interfaces[car_name] CP = CarInterface.get_non_essential_params(car_name) diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py index 34f0f274fe..521cea816f 100755 --- a/selfdrive/controls/radard.py +++ b/selfdrive/controls/radard.py @@ -64,7 +64,7 @@ def match_vision_to_cluster(v_ego, lead, clusters): return None -def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): +def get_lead(v_ego, ready, clusters, lead_msg, model_v_ego, low_speed_override=True): # Determine leads, this is where the essential logic happens if len(clusters) > 0 and ready and lead_msg.prob > .5: cluster = match_vision_to_cluster(v_ego, lead_msg, clusters) @@ -75,7 +75,7 @@ def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True): if cluster is not None: lead_dict = cluster.get_RadarState(lead_msg.prob) elif (cluster is None) and ready and (lead_msg.prob > .5): - lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego) + lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego, model_v_ego) if low_speed_override: low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)] @@ -168,10 +168,14 @@ class RadarD(): radarState.radarErrors = list(rr.errors) radarState.carStateMonoTime = sm.logMonoTime['carState'] + if len(sm['modelV2'].temporalPose.trans): + model_v_ego = sm['modelV2'].temporalPose.trans[0] + else: + model_v_ego = self.v_ego leads_v3 = sm['modelV2'].leadsV3 if len(leads_v3) > 1: - radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True) - radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False) + radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], model_v_ego, low_speed_override=True) + radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], model_v_ego, low_speed_override=False) return dat diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py index 42b671e5e3..a81d797b89 100755 --- a/selfdrive/debug/count_events.py +++ b/selfdrive/debug/count_events.py @@ -23,6 +23,7 @@ if __name__ == "__main__": alerts: List[Tuple[float, str]] = [] start_time = math.inf end_time = -math.inf + ignition_off = None for q in tqdm(r.qlog_paths()): if q is None: continue @@ -38,6 +39,11 @@ if __name__ == "__main__": if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType: t = (msg.logMonoTime - start_time) / 1e9 alerts.append((t, msg.controlsState.alertType)) + elif msg.which() == 'pandaStates': + if ignition_off is None: + ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates) + if not ign: + ignition_off = msg.logMonoTime elif msg.which() in cams: cnt_cameras[msg.which()] += 1 @@ -64,6 +70,9 @@ if __name__ == "__main__": print("Alerts") for t, a in alerts: print(f"{t:8.2f} {a}") + if ignition_off is not None: + ignition_off = round((ignition_off - start_time) / 1e9, 2) + print("Ignition off at", ignition_off) print("\n") print("Route duration", datetime.timedelta(seconds=duration)) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 63b0733bba..0ea76d260f 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -2,10 +2,10 @@ import argparse -from selfdrive.test.process_replay.compare_logs import save_log from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process from tools.lib.logreader import MultiLogIterator from tools.lib.route import Route +from tools.lib.helpers import save_log if __name__ == "__main__": parser = argparse.ArgumentParser(description="Run process on route and create new logs", diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py index 42fa3b7c94..c9d9340a2d 100755 --- a/selfdrive/locationd/calibrationd.py +++ b/selfdrive/locationd/calibrationd.py @@ -24,6 +24,8 @@ MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS MAX_VEL_ANGLE_STD = np.radians(0.25) MAX_YAW_RATE_FILTER = np.radians(2) # per second +MAX_HEIGHT_STD = np.exp(-3.5) + # This is at model frequency, blocks needed for efficiency SMOOTH_CYCLES = 10 BLOCK_SIZE = 100 @@ -32,6 +34,7 @@ INPUTS_WANTED = 50 # We want a little bit more than we need for stability MAX_ALLOWED_SPREAD = np.radians(2) RPY_INIT = np.array([0.0,0.0,0.0]) WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0]) +HEIGHT_INIT = np.array([1.22]) # These values are needed to accommodate the model frame in the narrow cam of the C3 PITCH_LIMITS = np.array([-0.09074112085129739, 0.17]) @@ -50,6 +53,8 @@ def sanity_clip(rpy: np.ndarray) -> np.ndarray: np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005), np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)]) +def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx: int, block_size: float) -> np.ndarray: + return (idx*prev_mean + (block_size - idx) * new_val) / block_size class Calibrator: def __init__(self, param_put: bool = False): @@ -62,6 +67,7 @@ class Calibrator: calibration_params = params.get("CalibrationParams") rpy_init = RPY_INIT wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT + height = HEIGHT_INIT valid_blocks = 0 self.cal_status = log.LiveCalibrationData.Status.uncalibrated @@ -71,21 +77,28 @@ class Calibrator: rpy_init = np.array(msg.liveCalibration.rpyCalib) valid_blocks = msg.liveCalibration.validBlocks wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler) + height = np.array(msg.liveCalibration.height) except Exception: cloudlog.exception("Error reading cached CalibrationParams") - self.reset(rpy_init, valid_blocks, wide_from_device_euler) + self.reset(rpy_init, valid_blocks, wide_from_device_euler, height) self.update_status() def reset(self, rpy_init: np.ndarray = RPY_INIT, valid_blocks: int = 0, wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT, + height_init: np.ndarray = HEIGHT_INIT, smooth_from: Optional[np.ndarray] = None) -> None: if not np.isfinite(rpy_init).all(): self.rpy = RPY_INIT.copy() else: self.rpy = rpy_init.copy() + if not np.isfinite(height_init).all() or len(height_init) != 1: + self.height = HEIGHT_INIT.copy() + else: + self.height = height_init.copy() + if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3: self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy() else: @@ -98,6 +111,7 @@ class Calibrator: self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1)) self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1)) + self.heights = np.tile(self.height, (INPUTS_WANTED, 1)) self.idx = 0 self.block_idx = 0 @@ -120,6 +134,7 @@ class Calibrator: valid_idxs = self.get_valid_idxs() if valid_idxs: self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0) + self.height = np.mean(self.heights[valid_idxs], axis=0) rpys = self.rpys[valid_idxs] self.rpy = np.mean(rpys, axis=0) max_rpy_calib = np.array(np.max(rpys, axis=0)) @@ -140,6 +155,7 @@ class Calibrator: # If spread is too high, assume mounting was changed and reset to last block. # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model. + # TODO: add height spread check with smooth transition too if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated: self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy) self.cal_status = log.LiveCalibrationData.Status.recalibrating @@ -160,13 +176,21 @@ class Calibrator: def handle_cam_odom(self, trans: List[float], rot: List[float], wide_from_device_euler: List[float], - trans_std: List[float]) -> Optional[np.ndarray]: + trans_std: List[float], + road_transform_trans: List[float], + road_transform_trans_std: List[float]) -> Optional[np.ndarray]: self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES) straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER)) angle_std_threshold = MAX_VEL_ANGLE_STD - certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or - (self.valid_blocks < INPUTS_NEEDED)) + height_std_threshold = MAX_HEIGHT_STD + rpy_certain = np.arctan2(trans_std[1], trans[0]) < angle_std_threshold + if len(road_transform_trans_std) == 3: + height_certain = road_transform_trans_std[2] < height_std_threshold + else: + height_certain = True + + certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED) if not (straight_and_fast and certain_if_calib): return None @@ -180,10 +204,16 @@ class Calibrator: new_wide_from_device_euler = np.array(wide_from_device_euler) else: new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT - self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE) - self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] + - (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE) + + if (len(road_transform_trans) == 3): + new_height = np.array([road_transform_trans[2]]) + else: + new_height = HEIGHT_INIT + + self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE)) + self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx], new_wide_from_device_euler, self.idx, float(BLOCK_SIZE)) + self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE)) + self.idx = (self.idx + 1) % BLOCK_SIZE if self.idx == 0: self.block_idx += 1 @@ -206,6 +236,7 @@ class Calibrator: liveCalibration.rpyCalib = smooth_rpy.tolist() liveCalibration.rpyCalibSpread = self.calib_spread.tolist() liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist() + liveCalibration.height = self.height.tolist() if self.not_car: liveCalibration.validBlocks = INPUTS_NEEDED @@ -243,7 +274,9 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans, sm['cameraOdometry'].rot, sm['cameraOdometry'].wideFromDeviceEuler, - sm['cameraOdometry'].transStd) + sm['cameraOdometry'].transStd, + sm['cameraOdometry'].roadTransformTrans, + sm['cameraOdometry'].roadTransformTransStd) if DEBUG and new_rpy is not None: print('got new rpy', new_rpy) diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py index 71b81cc307..0115d2581a 100755 --- a/selfdrive/locationd/laikad.py +++ b/selfdrive/locationd/laikad.py @@ -192,9 +192,9 @@ class Laikad: def is_good_report(self, gnss_msg): if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom: - constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) # TODO: Understand and use remaining unknown constellations try: + constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source) good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS] except NotImplementedError: good_constellation = False diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc index 9ee9e33fb4..af31218499 100755 --- a/selfdrive/locationd/locationd.cc +++ b/selfdrive/locationd/locationd.cc @@ -35,6 +35,8 @@ const float GPS_VEL_STD_RESET_THRESHOLD = 0.5; const float GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0; const int GPS_ORIENTATION_ERROR_RESET_CNT = 3; +const bool DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0"; + static VectorXd floatlist2vector(const capnp::List::Reader& floatlist) { VectorXd res(floatlist.size()); for (int i = 0; i < floatlist.size(); i++) { @@ -161,6 +163,9 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) { init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated); init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated); init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated); + if (DEBUG) { + init_measurement(fix.initFilterState(), predicted_state, predicted_std, true); + } double old_mean = 0.0, new_mean = 0.0; int i = 0; diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py index 18125cc43f..96f996413d 100755 --- a/selfdrive/locationd/test/test_calibrationd.py +++ b/selfdrive/locationd/test/test_calibrationd.py @@ -7,7 +7,7 @@ import numpy as np import cereal.messaging as messaging from cereal import log from common.params import Params -from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES +from selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT class TestCalibrationd(unittest.TestCase): @@ -16,10 +16,12 @@ class TestCalibrationd(unittest.TestCase): msg = messaging.new_message('liveCalibration') msg.liveCalibration.validBlocks = random.randint(1, 10) msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)] + msg.liveCalibration.height = [random.random() for _ in range(1)] Params().put("CalibrationParams", msg.to_bytes()) c = Calibrator(param_put=True) np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy) + np.testing.assert_allclose(msg.liveCalibration.height, c.height) self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks) @@ -27,51 +29,79 @@ class TestCalibrationd(unittest.TestCase): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, INPUTS_WANTED) np.testing.assert_allclose(c.rpy, np.zeros(3)) + np.testing.assert_allclose(c.height, HEIGHT_INIT) c.reset() + def test_calibration_low_speed_reject(self): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER - 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, 0) np.testing.assert_allclose(c.rpy, np.zeros(3)) + np.testing.assert_allclose(c.height, HEIGHT_INIT) def test_calibration_yaw_rate_reject(self): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, MAX_YAW_RATE_FILTER ], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, 0) np.testing.assert_allclose(c.rpy, np.zeros(3)) + np.testing.assert_allclose(c.height, HEIGHT_INIT) + - def test_calibration_speed_std_reject(self): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + [0.0, 0.0, 0.0], + [0.0, 0.0, 0.0], + [1e3, 1e3, 1e3], + [0.0, 0.0, HEIGHT_INIT.item()], + [1e-3, 1e-3, 1e-3]) + self.assertEqual(c.valid_blocks, INPUTS_NEEDED) + np.testing.assert_allclose(c.rpy, np.zeros(3)) + + + def test_calibration_speed_std_height_reject(self): + c = Calibrator(param_put=False) + for _ in range(BLOCK_SIZE * INPUTS_WANTED): + c.handle_v_ego(MIN_SPEED_FILTER + 1) + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e3, 1e3, 1e3]) self.assertEqual(c.valid_blocks, INPUTS_NEEDED) np.testing.assert_allclose(c.rpy, np.zeros(3)) @@ -81,9 +111,11 @@ class TestCalibrationd(unittest.TestCase): c = Calibrator(param_put=False) for _ in range(BLOCK_SIZE * INPUTS_WANTED): c.handle_v_ego(MIN_SPEED_FILTER + 1) - c. handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], + c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, INPUTS_WANTED) np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0]) @@ -95,6 +127,8 @@ class TestCalibrationd(unittest.TestCase): c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], + [1e-3, 1e-3, 1e-3], + [0.0, 0.0, HEIGHT_INIT.item()], [1e-3, 1e-3, 1e-3]) self.assertEqual(c.valid_blocks, 1) self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating) diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py index c6b135935f..e9a1b2cb5b 100755 --- a/selfdrive/manager/manager.py +++ b/selfdrive/manager/manager.py @@ -7,6 +7,7 @@ import sys import traceback from typing import List, Tuple, Union +from cereal import log import cereal.messaging as messaging import selfdrive.sentry as sentry from common.basedir import BASEDIR @@ -44,6 +45,7 @@ def manager_init() -> None: ("HasAcceptedTerms", "0"), ("LanguageSetting", "main_en"), ("OpenpilotEnabledToggle", "1"), + ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)), ] if not PC: default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8'))) diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py index ce18073d9b..f4d2b39841 100644 --- a/selfdrive/manager/process.py +++ b/selfdrive/manager/process.py @@ -91,7 +91,7 @@ class ManagerProcess(ABC): pass def restart(self) -> None: - self.stop() + self.stop(sig=signal.SIGKILL) self.start() def check_watchdog(self, started: bool) -> None: @@ -108,21 +108,21 @@ class ManagerProcess(ABC): dt = sec_since_boot() - self.last_watchdog_time / 1e9 if dt > self.watchdog_max_dt: - # Only restart while offroad for now if self.watchdog_seen and ENABLE_WATCHDOG: cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})") self.restart() else: self.watchdog_seen = True - def stop(self, retry: bool=True, block: bool=True) -> Optional[int]: + def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]: if self.proc is None: return None if self.proc.exitcode is None: if not self.shutting_down: cloudlog.info(f"killing {self.name}") - sig = signal.SIGKILL if self.sigkill else signal.SIGINT + if sig is None: + sig = signal.SIGKILL if self.sigkill else signal.SIGINT self.signal(sig) self.shutting_down = True @@ -285,7 +285,7 @@ class DaemonProcess(ManagerProcess): params.put(self.param_name, str(proc.pid)) - def stop(self, retry=True, block=True) -> None: + def stop(self, retry=True, block=True, sig=None) -> None: pass diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index 57c42aaaaa..ee8d079bdf 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -47,7 +47,7 @@ procs = [ NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False), NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC), NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)), - NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True), + NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"]), NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]), NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False), PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"), diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc index 0a8a8d6358..265bd4071b 100644 --- a/selfdrive/modeld/modeld.cc +++ b/selfdrive/modeld/modeld.cc @@ -179,9 +179,6 @@ int main(int argc, char **argv) { assert(ret == 0); } - bool main_wide_camera = Params().getBool("WideCameraOnly"); - bool use_extra_client = !main_wide_camera; // set for single camera mode - // cl init cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT); cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err)); @@ -191,8 +188,22 @@ int main(int argc, char **argv) { model_init(&model, device_id, context); LOGW("models loaded, modeld starting"); + bool main_wide_camera = false; + bool use_extra_client = true; // set to false to use single camera + while (!do_exit) { + auto streams = VisionIpcClient::getAvailableStreams("camerad", false); + if (!streams.empty()) { + use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0; + main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0; + break; + } + + util::sleep_for(100); + } + VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context); VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context); + LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client); while (!do_exit && !vipc_client_main.connect(false)) { util::sleep_for(100); diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc index 5538d6ff9b..6b0e626c5c 100644 --- a/selfdrive/modeld/models/driving.cc +++ b/selfdrive/modeld/models/driving.cc @@ -390,15 +390,18 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe const auto &v_std = net_outputs.pose.velocity_std; const auto &r_std = net_outputs.pose.rotation_std; const auto &t_std = net_outputs.wide_from_device_euler.std; + const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean; + const auto &road_transform_trans_std = net_outputs.road_transform.position_std; auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry(); posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z}); posenetd.setRot({r_mean.x, r_mean.y, r_mean.z}); posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z}); + posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z}); posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)}); posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)}); posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)}); - + posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)}); posenetd.setTimestampEof(timestamp_eof); posenetd.setFrameId(vipc_frame_id); diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h index 2b0902d5cf..1214c30062 100644 --- a/selfdrive/modeld/models/driving.h +++ b/selfdrive/modeld/models/driving.h @@ -178,6 +178,14 @@ struct ModelOutputTemporalPose { }; static_assert(sizeof(ModelOutputTemporalPose) == sizeof(ModelOutputXYZ)*4); +struct ModelOutputRoadTransform { + ModelOutputXYZ position_mean; + ModelOutputXYZ rotation_mean; + ModelOutputXYZ position_std; + ModelOutputXYZ rotation_std; +}; +static_assert(sizeof(ModelOutputRoadTransform) == sizeof(ModelOutputXYZ)*4); + struct ModelOutputDisengageProb { float gas_disengage; float brake_disengage; @@ -237,6 +245,7 @@ struct ModelOutput { const ModelOutputPose pose; const ModelOutputWideFromDeviceEuler wide_from_device_euler; const ModelOutputTemporalPose temporal_pose; + const ModelOutputRoadTransform road_transform; }; constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float); diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index 493f3285d6..53c1224ae8 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:b8bf95f096b19cef1e473fb4f0caf5f727b74bbde23a642aa586036ad9824e55 -size 46076782 +oid sha256:4aa77af40335462062c6eb06632bb84cbc8e5c9e3ad759f66862711620e2a840 +size 46117948 diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc index a29a82c8c8..a3bfb8a8c2 100644 --- a/selfdrive/modeld/thneed/thneed_qcom2.cc +++ b/selfdrive/modeld/thneed/thneed_qcom2.cc @@ -43,7 +43,7 @@ int ioctl(int filedes, unsigned long request, void *argp) { if (request == IOCTL_KGSL_DRAWCTXT_CREATE) { struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp; create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK; - create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority + create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT; // priority from 1-15, 1 is max priority printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags); } @@ -238,24 +238,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) { // ****** copy inputs copy_inputs(finputs, true); - // ****** set power constraint - int ret; - struct kgsl_device_constraint_pwrlevel pwrlevel; - pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX; - - struct kgsl_device_constraint constraint; - constraint.type = KGSL_CONSTRAINT_PWRLEVEL; - constraint.context_id = context_id; - constraint.data = (void*)&pwrlevel; - constraint.size = sizeof(pwrlevel); - - struct kgsl_device_getproperty prop; - prop.type = KGSL_PROP_PWR_CONSTRAINT; - prop.value = (void*)&constraint; - prop.sizebytes = sizeof(constraint); - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - // ****** run commands int i = 0; for (auto &it : cmds) { @@ -268,14 +250,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) { // ****** copy outputs copy_output(foutput); - // ****** unset power constraint - constraint.type = KGSL_CONSTRAINT_NONE; - constraint.data = NULL; - constraint.size = 0; - - ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop); - assert(ret == 0); - if (debug >= 1) { te = nanos_since_boot(); printf("model exec in %lu us\n", (te-tb)/1000); diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 9fc80d8d72..f7dab576f3 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -12,7 +12,6 @@ from system.version import training_version, terms_version def set_params_enabled(): os.environ['PASSIVE'] = "0" os.environ['REPLAY'] = "1" - os.environ['SKIP_FW_QUERY'] = "1" os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019" os.environ['LOGPRINT'] = "debug" diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py index 1d1b6ec423..5f4b9f1f35 100755 --- a/selfdrive/test/openpilotci.py +++ b/selfdrive/test/openpilotci.py @@ -11,10 +11,7 @@ def get_url(route_name, segment_num, log_type="rlog"): ext = "hevc" if log_type.endswith('camera') else "bz2" return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}" - -def upload_file(path, name): - from azure.storage.blob import BlockBlobService # pylint: disable=import-error - +def get_sas_token(): sas_token = os.environ.get("AZURE_TOKEN", None) if os.path.isfile(TOKEN_PATH): sas_token = open(TOKEN_PATH).read().strip() @@ -22,9 +19,20 @@ def upload_file(path, name): if sas_token is None: sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \ --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n") - service = BlockBlobService(account_name="commadataci", sas_token=sas_token) + + return sas_token + +def upload_bytes(data, name): + from azure.storage.blob import BlockBlobService # pylint: disable=import-error + service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) + service.create_blob_from_bytes("openpilotci", name, data) + return BASE_URL + name + +def upload_file(path, name): + from azure.storage.blob import BlockBlobService # pylint: disable=import-error + service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token()) service.create_blob_from_path("openpilotci", name, path) - return "https://commadataci.blob.core.windows.net/openpilotci/" + name + return BASE_URL + name if __name__ == "__main__": diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py index e69de29bb2..6667deaa2d 100644 --- a/selfdrive/test/process_replay/__init__.py +++ b/selfdrive/test/process_replay/__init__.py @@ -0,0 +1 @@ +from selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, replay_process, replay_process_with_name # noqa: F401 diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py index 48752d2222..52898d8810 100755 --- a/selfdrive/test/process_replay/compare_logs.py +++ b/selfdrive/test/process_replay/compare_logs.py @@ -1,5 +1,4 @@ #!/usr/bin/env python3 -import bz2 import sys import math import capnp @@ -12,16 +11,6 @@ from tools.lib.logreader import LogReader EPSILON = sys.float_info.epsilon -def save_log(dest, log_msgs, compress=True): - dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) - - if compress: - dat = bz2.compress(dat) - - with open(dest, "wb") as f: - f.write(dat) - - def remove_ignored_fields(msg, ignore): msg = msg.as_builder() for key in ignore: diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py new file mode 100644 index 0000000000..31b3acde56 --- /dev/null +++ b/selfdrive/test/process_replay/migration.py @@ -0,0 +1,65 @@ +from cereal import messaging + + +def migrate_all(lr, old_logtime=False): + msgs = migrate_sensorEvents(lr, old_logtime) + msgs = migrate_carParams(msgs, old_logtime) + + return msgs + + +def migrate_carParams(lr, old_logtime=False): + all_msgs = [] + for msg in lr: + if msg.which() == 'carParams': + CP = messaging.new_message('carParams') + CP.carParams = msg.carParams.as_builder() + for car_fw in CP.carParams.carFw: + car_fw.brand = CP.carParams.carName + if old_logtime: + CP.logMonoTime = msg.logMonoTime + msg = CP.as_reader() + all_msgs.append(msg) + + return all_msgs + + +def migrate_sensorEvents(lr, old_logtime=False): + all_msgs = [] + for msg in lr: + if msg.which() != 'sensorEventsDEPRECATED': + all_msgs.append(msg) + continue + + # migrate to split sensor events + for evt in msg.sensorEventsDEPRECATED: + # build new message for each sensor type + sensor_service = '' + if evt.which() == 'acceleration': + sensor_service = 'accelerometer' + elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated': + sensor_service = 'gyroscope' + elif evt.which() == 'light' or evt.which() == 'proximity': + sensor_service = 'lightSensor' + elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated': + sensor_service = 'magnetometer' + elif evt.which() == 'temperature': + sensor_service = 'temperatureSensor' + + m = messaging.new_message(sensor_service) + m.valid = True + if old_logtime: + m.logMonoTime = msg.logMonoTime + + m_dat = getattr(m, sensor_service) + m_dat.version = evt.version + m_dat.sensor = evt.sensor + m_dat.type = evt.type + m_dat.source = evt.source + if old_logtime: + m_dat.timestamp = evt.timestamp + setattr(m_dat, evt.which(), getattr(evt, evt.which())) + + all_msgs.append(m.as_reader()) + + return all_msgs diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py index 68cbb28aaf..55d95a6a6a 100755 --- a/selfdrive/test/process_replay/model_replay.py +++ b/selfdrive/test/process_replay/model_replay.py @@ -14,18 +14,19 @@ from common.transformations.camera import tici_f_frame_size, tici_d_frame_size from system.hardware import PC from selfdrive.manager.process_config import managed_processes from selfdrive.test.openpilotci import BASE_URL, get_url -from selfdrive.test.process_replay.compare_logs import compare_logs, save_log +from selfdrive.test.process_replay.compare_logs import compare_logs from selfdrive.test.process_replay.test_processes import format_diff from system.version import get_commit from tools.lib.framereader import FrameReader from tools.lib.logreader import LogReader +from tools.lib.helpers import save_log TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30" SEGMENT = 6 MAX_FRAMES = 100 if PC else 600 NAV_FRAMES = 50 -NO_NAV = "NO_NAV" in os.environ # TODO: make map renderer work in CI +NO_NAV = "NO_NAV" in os.environ SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0")) VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER, @@ -209,6 +210,31 @@ if __name__ == "__main__": 'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True) } + # Update tile refs + if update: + import urllib + import requests + import threading + import http.server + from selfdrive.test.openpilotci import upload_bytes + os.environ['MAPS_HOST'] = 'http://localhost:5000' + + class HTTPRequestHandler(http.server.BaseHTTPRequestHandler): + def do_GET(self): + assert len(self.path) > 10 # Sanity check on path length + r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30) + upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/')) + self.send_response(r.status_code) + self.send_header('Content-type','text/html') + self.end_headers() + self.wfile.write(r.content) + + server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler) + thread = threading.Thread(None, server.serve_forever, daemon=True) + thread.start() + else: + os.environ['MAPS_HOST'] = BASE_URL.rstrip('/') + # run replays log_msgs = model_replay(lr, frs) if not NO_NAV: diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 448c7b4291..b89468eebb 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -e3cf1856830902bede2d1c9ca3d0d60e5504ae20 +69270554b3c3ae574b9f357f2473395edf7db8af diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 8f2f3e1bd6..13dfb661b7 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/selfdrive/test/process_replay/process_replay.py @@ -2,9 +2,11 @@ import os import time import signal +import platform from collections import OrderedDict from dataclasses import dataclass, field from typing import Dict, List, Optional, Callable +from tqdm import tqdm import cereal.messaging as messaging from cereal import car @@ -16,6 +18,7 @@ from panda.python import ALTERNATIVE_EXPERIENCE from selfdrive.car.car_helpers import get_car, interfaces from selfdrive.manager.process_config import managed_processes from selfdrive.test.process_replay.helpers import OpenpilotPrefix +from selfdrive.test.process_replay.migration import migrate_all # Numpy gives different results based on CPU features after version 19 NUMPY_TOLERANCE = 1e-7 @@ -76,9 +79,9 @@ class ReplayContext: def wait_for_recv_called(self): messaging.wait_for_one_event(self.all_recv_called_events) - def wait_for_next_recv(self, end_of_cycle): + def wait_for_next_recv(self, trigger_empty_recv): index = messaging.wait_for_one_event(self.all_recv_called_events) - if self.drained_pub is not None and end_of_cycle: + if self.drained_pub is not None and trigger_empty_recv: self.all_recv_called_events[index].clear() self.all_recv_ready_events[index].set() self.all_recv_called_events[index].wait() @@ -146,6 +149,8 @@ def get_car_params_callback(rc, pm, msgs, fingerprint): sendcan = DummySocket() canmsgs = [msg for msg in msgs if msg.which() == "can"] + assert len(canmsgs) != 0, "CAN messages are required for carParams initialization" + for m in canmsgs[:300]: can.send(m.as_builder().to_bytes()) _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled")) @@ -255,7 +260,7 @@ CONFIGS = [ subs=["liveCalibration"], ignore=["logMonoTime", "valid"], config_callback=None, - init_callback=get_car_params_callback, + init_callback=None, should_recv_callback=calibration_rcv_callback, ), ProcessConfig( @@ -264,7 +269,7 @@ CONFIGS = [ subs=["driverMonitoringState"], ignore=["logMonoTime", "valid"], config_callback=None, - init_callback=get_car_params_callback, + init_callback=None, should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"), tolerance=NUMPY_TOLERANCE, ), @@ -277,7 +282,7 @@ CONFIGS = [ subs=["liveLocationKalman"], ignore=["logMonoTime", "valid"], config_callback=locationd_config_pubsub_callback, - init_callback=get_car_params_callback, + init_callback=None, should_recv_callback=None, tolerance=NUMPY_TOLERANCE, ), @@ -306,7 +311,7 @@ CONFIGS = [ subs=["gnssMeasurements"], ignore=["logMonoTime"], config_callback=laikad_config_pubsub_callback, - init_callback=get_car_params_callback, + init_callback=None, should_recv_callback=None, tolerance=NUMPY_TOLERANCE, timeout=60*10, # first messages are blocked on internet assistance @@ -332,7 +337,28 @@ def get_process_config(name): raise Exception(f"Cannot find process config with name: {name}") from ex -def replay_process(cfg, lr, fingerprint=None): +def replay_process_with_name(name, lr, *args, **kwargs): + cfg = get_process_config(name) + return replay_process(cfg, lr, *args, **kwargs) + + +def replay_process(cfg, lr, fingerprint=None, return_all_logs=False, disable_progress=False): + all_msgs = migrate_all(lr, old_logtime=True) + process_logs = _replay_single_process(cfg, all_msgs, fingerprint, disable_progress) + + if return_all_logs: + keys = set(cfg.subs) + modified_logs = [m for m in all_msgs if m.which() not in keys] + modified_logs.extend(process_logs) + modified_logs.sort(key=lambda m: m.logMonoTime) + log_msgs = modified_logs + else: + log_msgs = process_logs + + return log_msgs + + +def _replay_single_process(cfg, lr, fingerprint, disable_progress): with OpenpilotPrefix(): controlsState = None initialized = False @@ -380,7 +406,7 @@ def replay_process(cfg, lr, fingerprint=None): # Do the replay cnt = 0 - for msg in pub_msgs: + for msg in tqdm(pub_msgs, disable=disable_progress): with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"): resp_sockets, end_of_cycle = cfg.subs, True if cfg.should_recv_callback is not None: @@ -395,12 +421,17 @@ def replay_process(cfg, lr, fingerprint=None): for s in sockets.values(): messaging.recv_one_or_none(s) + # empty recv on drained pub indicates the end of messages, only do that if there're any + trigger_empty_recv = False + if cfg.drained_pub: + trigger_empty_recv = next((True for m in msg_queue if m.which() == cfg.drained_pub), False) + for m in msg_queue: pm.send(m.which(), m.as_builder()) msg_queue = [] rc.unlock_sockets() - rc.wait_for_next_recv(True) + rc.wait_for_next_recv(trigger_empty_recv) for s in resp_sockets: ms = messaging.drain_sock(sockets[s]) @@ -417,15 +448,17 @@ def replay_process(cfg, lr, fingerprint=None): return log_msgs -def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None): - os.environ["PARAMS_ROOT"] = "/dev/shm/params" +def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None, log_dir=None): + if platform.system() != "Darwin": + os.environ["PARAMS_ROOT"] = "/dev/shm/params" + if log_dir is not None: + os.environ["LOG_ROOT"] = log_dir params = Params() params.clear_all() params.put_bool("OpenpilotEnabledToggle", True) params.put_bool("Passive", False) params.put_bool("DisengageOnAccelerator", True) - params.put_bool("WideCameraOnly", False) params.put_bool("DisableLogging", False) os.environ["NO_RADAR_SLEEP"] = "1" @@ -480,7 +513,7 @@ def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None): params.put_bool("ExperimentalLongitudinalEnabled", True) -def check_enabled(msgs): +def check_openpilot_enabled(msgs): cur_enabled_count = 0 max_enabled_count = 0 for msg in msgs: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 52735b686b..a7d5b333d2 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -29f846f525a4e14f380afd20ae8fa0804011ab6e \ No newline at end of file +05b4467181f826f934a7ee4aada003fb241bbdff diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py index fbabc1bd29..18c7e3a8dc 100755 --- a/selfdrive/test/process_replay/regen.py +++ b/selfdrive/test/process_replay/regen.py @@ -19,7 +19,8 @@ from panda.python import Panda from selfdrive.car.toyota.values import EPS_SCALE from selfdrive.manager.process import ensure_running from selfdrive.manager.process_config import managed_processes -from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_enabled +from selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, setup_env, check_openpilot_enabled +from selfdrive.test.process_replay.migration import migrate_all from selfdrive.test.update_ci_routes import upload_route from tools.lib.route import Route from tools.lib.framereader import FrameReader @@ -179,79 +180,22 @@ def replay_cameras(lr, frs, disable_tqdm=False): return vs, p -def migrate_carparams(lr): - all_msgs = [] - for msg in lr: - if msg.which() == 'carParams': - CP = messaging.new_message('carParams') - CP.carParams = msg.carParams.as_builder() - for car_fw in CP.carParams.carFw: - car_fw.brand = CP.carParams.carName - msg = CP.as_reader() - all_msgs.append(msg) - - return all_msgs - - -def migrate_sensorEvents(lr, old_logtime=False): - all_msgs = [] - for msg in lr: - if msg.which() != 'sensorEventsDEPRECATED': - all_msgs.append(msg) - continue - - # migrate to split sensor events - for evt in msg.sensorEventsDEPRECATED: - # build new message for each sensor type - sensor_service = '' - if evt.which() == 'acceleration': - sensor_service = 'accelerometer' - elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated': - sensor_service = 'gyroscope' - elif evt.which() == 'light' or evt.which() == 'proximity': - sensor_service = 'lightSensor' - elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated': - sensor_service = 'magnetometer' - elif evt.which() == 'temperature': - sensor_service = 'temperatureSensor' - - m = messaging.new_message(sensor_service) - m.valid = True - if old_logtime: - m.logMonoTime = msg.logMonoTime - - m_dat = getattr(m, sensor_service) - m_dat.version = evt.version - m_dat.sensor = evt.sensor - m_dat.type = evt.type - m_dat.source = evt.source - if old_logtime: - m_dat.timestamp = evt.timestamp - setattr(m_dat, evt.which(), getattr(evt, evt.which())) - - all_msgs.append(m.as_reader()) - - return all_msgs - - def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=False): if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"): raise ValueError("whitelist_proc must be a string or iterable") - lr = migrate_carparams(list(lr)) - lr = migrate_sensorEvents(list(lr)) + lr = migrate_all(lr) if frs is None: frs = dict() - params = Params() - os.environ["LOG_ROOT"] = outdir - # Get and setup initial state CP = [m for m in lr if m.which() == 'carParams'][0].carParams controlsState = [m for m in lr if m.which() == 'controlsState'][0].controlsState liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0] - setup_env(CP=CP, controlsState=controlsState) + setup_env(CP=CP, controlsState=controlsState, log_dir=outdir) + + params = Params() params.put("CalibrationParams", liveCalibration.as_builder().to_bytes()) vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm) @@ -344,7 +288,7 @@ def regen_segment(lr, frs=None, daemons="all", outdir=FAKEDATA, disable_tqdm=Fal segment = params.get("CurrentRoute", encoding='utf-8') + "--0" seg_path = os.path.join(outdir, segment) # check to make sure openpilot is engaged in the route - if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))): + if not check_openpilot_enabled(LogReader(os.path.join(seg_path, "rlog"))): raise Exception(f"Route did not engage for long enough: {segment}") return seg_path diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index deed1ec48f..6962e51cb5 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -9,11 +9,12 @@ from typing import Any, DefaultDict, Dict from selfdrive.car.car_helpers import interface_names from selfdrive.test.openpilotci import get_url, upload_file -from selfdrive.test.process_replay.compare_logs import compare_logs, save_log -from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_enabled, replay_process +from selfdrive.test.process_replay.compare_logs import compare_logs +from selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process from system.version import get_commit from tools.lib.filereader import FileReader from tools.lib.logreader import LogReader +from tools.lib.helpers import save_log source_segments = [ ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY @@ -98,13 +99,13 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non ref_log_msgs = list(LogReader(ref_log_path)) try: - log_msgs = replay_process(cfg, lr) + log_msgs = replay_process(cfg, lr, disable_progress=True) except Exception as e: raise Exception("failed on segment: " + segment) from e # check to make sure openpilot is engaged in the route if cfg.proc_name == "controlsd": - if not check_enabled(log_msgs): + if not check_openpilot_enabled(log_msgs): return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs try: diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index acc98c85d6..ef6ce65201 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -18,6 +18,7 @@ from common.basedir import BASEDIR from common.timeout import Timeout from common.params import Params from selfdrive.controls.lib.events import EVENTS, ET +from system.hardware import HARDWARE from system.loggerd.config import ROOT from selfdrive.test.helpers import set_params_enabled, release_only from tools.lib.logreader import LogReader @@ -35,7 +36,6 @@ PROCS = { "./_sensord": 12.0, "selfdrive.controls.radard": 4.5, "./_modeld": 4.48, - "./boardd": 3.63, "./_dmonitoringmodeld": 5.0, "selfdrive.thermald.thermald": 3.87, "selfdrive.locationd.calibrationd": 2.0, @@ -45,12 +45,10 @@ PROCS = { "./proclogd": 1.54, "system.logmessaged": 0.2, "./clocksd": 0.02, - "./ubloxd": 0.02, "selfdrive.tombstoned": 0, "./logcatd": 0, "system.micd": 10.0, "system.timezoned": 0, - "system.sensord.pigeond": 6.0, "selfdrive.boardd.pandad": 0, "selfdrive.statsd": 0.4, "selfdrive.navd.navd": 0.4, @@ -59,6 +57,18 @@ PROCS = { "selfdrive.locationd.laikad": None, # TODO: laikad cpu usage is sporadic } +PROCS.update({ + "tici": { + "./boardd": 4.0, + "./ubloxd": 0.02, + "system.sensord.pigeond": 6.0, + }, + "tizi": { + "./boardd": 19.0, + "system.sensord.rawgps.rawgpsd": 1.0, + } +}[HARDWARE.get_device_type()]) + TIMINGS = { # rtols: max/min, rsd "can": [2.5, 0.35], @@ -96,10 +106,14 @@ class TestOnroad(unittest.TestCase): # setup env params = Params() - params.clear_all() + if "CI" in os.environ: + params.clear_all() + params.remove("CurrentRoute") set_params_enabled() + os.environ['TESTING_CLOSET'] = '1' if os.path.exists(ROOT): shutil.rmtree(ROOT) + os.system("rm /dev/shm/*") # Make sure athena isn't running os.system("pkill -9 -f athena") @@ -155,11 +169,11 @@ class TestOnroad(unittest.TestCase): for s, msgs in self.service_msgs.items(): if s in ('initData', 'sentinel'): continue - + # skip gps services for now - if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocationExternal'): + if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'): continue - + with self.subTest(service=s): assert len(msgs) >= math.floor(service_list[s].frequency*55) @@ -243,6 +257,14 @@ class TestOnroad(unittest.TestCase): self.assertTrue(cpu_ok) + def test_memory_usage(self): + mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']] + print("Memory usage: ", mems) + + # check for big leaks. note that memory usage is + # expected to go up while the MSGQ buffers fill up + self.assertLessEqual(max(mems) - min(mems), 3.0) + def test_camera_processing_time(self): result = "\n" result += "------------------------------------------------\n" @@ -257,6 +279,23 @@ class TestOnroad(unittest.TestCase): result += "------------------------------------------------\n" print(result) + @unittest.skip("TODO: enable once timings are fixed") + def test_camera_frame_timings(self): + result = "\n" + result += "------------------------------------------------\n" + result += "----------------- SoF Timing ------------------\n" + result += "------------------------------------------------\n" + for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']: + ts = [getattr(getattr(m, m.which()), "timestampSof") for m in self.lr if name in m.which()] + d_ms = np.diff(ts) / 1e6 + d50 = np.abs(d_ms-50) + self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}") + result += f"{name} sof delta vs 50ms: min {min(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: max {max(d50):.5f}s\n" + result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n" + result += "------------------------------------------------\n" + print(result) + def test_mpc_execution_timings(self): result = "\n" result += "------------------------------------------------\n" diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py index 57387e5186..1d0609a5ba 100755 --- a/selfdrive/thermald/thermald.py +++ b/selfdrive/thermald/thermald.py @@ -13,6 +13,7 @@ import psutil import cereal.messaging as messaging from cereal import log from common.dict_helpers import strip_deprecated_keys +from common.time import MIN_DATE from common.filter_simple import FirstOrderFilter from common.params import Params from common.realtime import DT_TRML, sec_since_boot @@ -41,7 +42,7 @@ HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'ne THERMAL_BANDS = OrderedDict({ ThermalStatus.green: ThermalBand(None, 80.0), ThermalStatus.yellow: ThermalBand(75.0, 96.0), - ThermalStatus.red: ThermalBand(80.0, 107.), + ThermalStatus.red: ThermalBand(88.0, 107.), ThermalStatus.danger: ThermalBand(94.0, None), }) @@ -272,7 +273,7 @@ def thermald_thread(end_event, hw_queue): # Ensure date/time are valid now = datetime.datetime.utcnow() - startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10) + startup_conditions["time_valid"] = now > MIN_DATE set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"])) startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate") @@ -286,8 +287,11 @@ def thermald_thread(end_event, hw_queue): params.get_bool("Passive") startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled") startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot") - # if any CPU gets above 107 or the battery gets above 63, kill all processes - # controls will warn with CPU above 95 or battery above 60 + + # must be at an engageable thermal band to go onroad + startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red + + # if the temperature enters the danger zone, go offroad to cool down onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"])) diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript index a8c8463bd7..f46e3d5873 100644 --- a/selfdrive/ui/SConscript +++ b/selfdrive/ui/SConscript @@ -20,7 +20,7 @@ if arch == "Darwin": qt_env['FRAMEWORKS'] += ['OpenCL'] qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs) -widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", +widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.cc", "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc", "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc", "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", @@ -64,6 +64,7 @@ qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs) if GetOption('test'): qt_src.remove("main.cc") # replaced by test_runner qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs) + qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs) # build translation files diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc index 2b8974f73a..587e2f445e 100644 --- a/selfdrive/ui/qt/home.cc +++ b/selfdrive/ui/qt/home.cc @@ -2,6 +2,7 @@ #include #include +#include #include #include "selfdrive/ui/qt/offroad/experimental_mode.h" @@ -136,21 +137,34 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { home_layout->setContentsMargins(0, 0, 0, 0); home_layout->setSpacing(30); - // left: ExperimentalModeButton, DriveStats - QWidget* left_widget = new QWidget(this); - QVBoxLayout* left_column = new QVBoxLayout(left_widget); - left_column->setContentsMargins(0, 0, 0, 0); - left_column->setSpacing(30); + // left: DriveStats/PrimeAdWidget + QStackedWidget *left_widget = new QStackedWidget(this); + left_widget->addWidget(new DriveStats); + left_widget->addWidget(new PrimeAdWidget); + + left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1); + connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) { + left_widget->setCurrentIndex(prime_type ? 0 : 1); + }); + + home_layout->addWidget(left_widget, 1); + + // right: ExperimentalModeButton, SetupWidget + QWidget* right_widget = new QWidget(this); + QVBoxLayout* right_column = new QVBoxLayout(right_widget); + right_column->setContentsMargins(0, 0, 0, 0); + right_widget->setFixedWidth(750); + right_column->setSpacing(30); ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this); QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings); - left_column->addWidget(experimental_mode, 1); - left_column->addWidget(new DriveStats, 1); + right_column->addWidget(experimental_mode, 1); - home_layout->addWidget(left_widget, 1); + SetupWidget *setup_widget = new SetupWidget; + QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings); + right_column->addWidget(setup_widget, 1); - // right: SetupWidget - home_layout->addWidget(new SetupWidget); + home_layout->addWidget(right_widget, 1); } center_layout->addWidget(home_widget); @@ -170,7 +184,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) { setStyleSheet(R"( * { - color: white; + color: white; } OffroadHome { background-color: black; diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc index 3205ca517d..f626925ad4 100644 --- a/selfdrive/ui/qt/maps/map_settings.cc +++ b/selfdrive/ui/qt/maps/map_settings.cc @@ -13,46 +13,46 @@ static QString shorten(const QString &str, int max_len) { } MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { - stack = new QStackedWidget; + QStackedLayout *stack = new QStackedLayout(this); - QWidget * main_widget = new QWidget; + QWidget *main_widget = new QWidget; QVBoxLayout *main_layout = new QVBoxLayout(main_widget); - const int icon_size = 200; - - // Home - QHBoxLayout *home_layout = new QHBoxLayout; - home_button = new QPushButton; - home_button->setIconSize(QSize(icon_size, icon_size)); - home_layout->addWidget(home_button); - - home_address = new QLabel; - home_address->setWordWrap(true); - home_layout->addSpacing(30); - home_layout->addWidget(home_address); - home_layout->addStretch(); - - // Work - QHBoxLayout *work_layout = new QHBoxLayout; - work_button = new QPushButton; - work_button->setIconSize(QSize(icon_size, icon_size)); - work_layout->addWidget(work_button); - - work_address = new QLabel; - work_address->setWordWrap(true); - work_layout->addSpacing(30); - work_layout->addWidget(work_address); - work_layout->addStretch(); + main_layout->setSpacing(20); // Home & Work layout QHBoxLayout *home_work_layout = new QHBoxLayout; - home_work_layout->addLayout(home_layout, 1); - home_work_layout->addSpacing(50); - home_work_layout->addLayout(work_layout, 1); + { + // Home + home_button = new QPushButton; + home_button->setIconSize(QSize(MAP_PANEL_ICON_SIZE, MAP_PANEL_ICON_SIZE)); + home_address = new QLabel; + home_address->setWordWrap(true); + + QHBoxLayout *home_layout = new QHBoxLayout; + home_layout->addWidget(home_button); + home_layout->addSpacing(30); + home_layout->addWidget(home_address); + home_layout->addStretch(); + + // Work + work_button = new QPushButton; + work_button->setIconSize(QSize(MAP_PANEL_ICON_SIZE, MAP_PANEL_ICON_SIZE)); + work_address = new QLabel; + work_address->setWordWrap(true); + + QHBoxLayout *work_layout = new QHBoxLayout; + work_layout->addWidget(work_button); + work_layout->addSpacing(30); + work_layout->addWidget(work_address); + work_layout->addStretch(); + + home_work_layout->addLayout(home_layout, 1); + home_work_layout->addSpacing(50); + home_work_layout->addLayout(work_layout, 1); + } main_layout->addLayout(home_work_layout); - main_layout->addSpacing(20); main_layout->addWidget(horizontal_line()); - main_layout->addSpacing(20); // Current route { @@ -81,7 +81,6 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { QLabel *recents_title = new QLabel(tr("Recent Destinations")); recents_title->setStyleSheet("font-size: 55px"); main_layout->addWidget(recents_title); - main_layout->addSpacing(20); recent_layout = new QVBoxLayout; QWidget *recent_widget = new LayoutWidget(recent_layout, this); @@ -119,9 +118,6 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) { stack->setCurrentIndex(prime_type ? 0 : 1); }); - QVBoxLayout *wrapper = new QVBoxLayout(this); - wrapper->addWidget(stack); - clear(); @@ -207,8 +203,9 @@ void MapPanel::refresh() { prev_destinations = cur_destinations; clear(); + // add favorites before recents bool has_recents = false; - for (auto &save_type: {"favorite", "recent"}) { + for (auto &save_type: {NAV_TYPE_FAVORITE, NAV_TYPE_RECENT}) { for (auto location : doc.array()) { auto obj = location.toObject(); @@ -219,7 +216,7 @@ void MapPanel::refresh() { if (type != save_type) continue; - if (type == "favorite" && label == "home") { + if (type == NAV_TYPE_FAVORITE && label == NAV_FAVORITE_LABEL_HOME) { home_address->setText(name); home_address->setStyleSheet(R"(font-size: 50px; color: white;)"); home_button->setIcon(QPixmap("../assets/navigation/home.png")); @@ -227,7 +224,7 @@ void MapPanel::refresh() { navigateTo(obj); emit closeSettings(); }); - } else if (type == "favorite" && label == "work") { + } else if (type == NAV_TYPE_FAVORITE && label == NAV_FAVORITE_LABEL_WORK) { work_address->setText(name); work_address->setStyleSheet(R"(font-size: 50px; color: white;)"); work_button->setIcon(QPixmap("../assets/navigation/work.png")); @@ -245,7 +242,7 @@ void MapPanel::refresh() { sp.setRetainSizeWhenHidden(true); star->setSizePolicy(sp); - star->setVisible(type == "favorite"); + star->setVisible(type == NAV_TYPE_FAVORITE); star->setStyleSheet(R"(font-size: 60px;)"); layout->addWidget(star); layout->addSpacing(10); @@ -284,7 +281,6 @@ void MapPanel::refresh() { has_recents = true; } } - } if (!has_recents) { diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h index 165673b7c1..8dd044c374 100644 --- a/selfdrive/ui/qt/maps/map_settings.h +++ b/selfdrive/ui/qt/maps/map_settings.h @@ -11,6 +11,14 @@ #include "common/params.h" #include "selfdrive/ui/qt/widgets/controls.h" +const int MAP_PANEL_ICON_SIZE = 200; + +const QString NAV_TYPE_FAVORITE = "favorite"; +const QString NAV_TYPE_RECENT = "recent"; + +const QString NAV_FAVORITE_LABEL_HOME = "home"; +const QString NAV_FAVORITE_LABEL_WORK = "work"; + class MapPanel : public QWidget { Q_OBJECT public: @@ -27,7 +35,6 @@ private: Params params; QString prev_destinations, cur_destinations; - QStackedWidget *stack; QPushButton *home_button, *work_button; QLabel *home_address, *work_address; QVBoxLayout *recent_layout; diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc index b9fec9d62d..e37e5a9843 100644 --- a/selfdrive/ui/qt/offroad/settings.cc +++ b/selfdrive/ui/qt/offroad/settings.cc @@ -27,7 +27,7 @@ #include "selfdrive/ui/qt/widgets/input.h" TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { - // param, title, desc, icon, confirm + // param, title, desc, icon std::vector> toggle_defs{ { "OpenpilotEnabledToggle", @@ -35,12 +35,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."), "../assets/offroad/icon_openpilot.png", }, - { - "ExperimentalMode", - tr("Experimental Mode"), - "", - "../assets/img_experimental_white.svg", - }, { "ExperimentalLongitudinalEnabled", tr("openpilot Longitudinal Control (Alpha)"), @@ -49,18 +43,24 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")), "../assets/offroad/icon_speed_limit.png", }, + { + "ExperimentalMode", + tr("Experimental Mode"), + "", + "../assets/img_experimental_white.svg", + }, + { + "DisengageOnAccelerator", + tr("Disengage on Accelerator Pedal"), + tr("When enabled, pressing the accelerator pedal will disengage openpilot."), + "../assets/offroad/icon_disengage_on_accelerator.svg", + }, { "IsLdwEnabled", tr("Enable Lane Departure Warnings"), tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."), "../assets/offroad/icon_warning.png", }, - { - "IsMetric", - tr("Use Metric System"), - tr("Display speed in km/h instead of mph."), - "../assets/offroad/icon_metric.png", - }, { "RecordFront", tr("Record and Upload Driver Camera"), @@ -68,10 +68,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { "../assets/offroad/icon_monitoring.png", }, { - "DisengageOnAccelerator", - tr("Disengage on Accelerator Pedal"), - tr("When enabled, pressing the accelerator pedal will disengage openpilot."), - "../assets/offroad/icon_disengage_on_accelerator.svg", + "IsMetric", + tr("Use Metric System"), + tr("Display speed in km/h instead of mph."), + "../assets/offroad/icon_metric.png", }, #ifdef ENABLE_MAPS { @@ -89,6 +89,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { #endif }; + + std::vector longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")}; + long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"), + tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars."), + "../assets/offroad/icon_speed_limit.png", + longi_button_texts); for (auto &[param, title, desc, icon] : toggle_defs) { auto toggle = new ParamControl(param, title, desc, icon, this); @@ -97,6 +103,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) { addItem(toggle); toggles[param.toStdString()] = toggle; + + // insert longitudinal personality after NDOG toggle + if (param == "DisengageOnAccelerator") { + addItem(long_personality_setting); + } } // Toggles with confirmation dialogs @@ -132,6 +143,7 @@ void TogglesPanel::updateToggles() { .arg(tr("New Driving Visualization")) .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.")); + long_personality_setting->setEnabled(false); const bool is_release = params.getBool("IsReleaseBranch"); auto cp_bytes = params.get("CarParamsPersistent"); if (!cp_bytes.empty()) { @@ -150,6 +162,7 @@ void TogglesPanel::updateToggles() { // normal description and toggle e2e_toggle->setEnabled(true); e2e_toggle->setDescription(e2e_description); + long_personality_setting->setEnabled(true); } else { // no long for now e2e_toggle->setEnabled(false); diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h index c63be4e138..e35811fdc8 100644 --- a/selfdrive/ui/qt/offroad/settings.h +++ b/selfdrive/ui/qt/offroad/settings.h @@ -64,6 +64,7 @@ public slots: private: Params params; std::map toggles; + ButtonParamControl *long_personality_setting; void updateToggles(); }; diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 6db6a6cdfe..d25c8490f3 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -126,19 +126,19 @@ void SoftwarePanel::updateLabels() { downloadBtn->setValue(updater_state); } else { if (failed) { - downloadBtn->setText("CHECK"); - downloadBtn->setValue("failed to check for update"); + downloadBtn->setText(tr("CHECK")); + downloadBtn->setValue(tr("failed to check for update")); } else if (params.getBool("UpdaterFetchAvailable")) { - downloadBtn->setText("DOWNLOAD"); - downloadBtn->setValue("update available"); + downloadBtn->setText(tr("DOWNLOAD")); + downloadBtn->setValue(tr("update available")); } else { - QString lastUpdate = "never"; + QString lastUpdate = tr("never"); auto tm = params.get("LastUpdateTime"); if (!tm.empty()) { lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate)); } - downloadBtn->setText("CHECK"); - downloadBtn->setValue("up to date, last checked " + lastUpdate); + downloadBtn->setText(tr("CHECK")); + downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate)); } downloadBtn->setEnabled(true); } diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc index af07f179c4..0dcf38ccf0 100644 --- a/selfdrive/ui/qt/onroad.cc +++ b/selfdrive/ui/qt/onroad.cc @@ -95,7 +95,7 @@ void OnroadWindow::offroadTransition(bool offroad) { QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition); - m->setFixedWidth(topWidget(this)->width() / 2); + m->setFixedWidth(topWidget(this)->width() / 2 - bdr_s); split->insertWidget(0, m); // Make map visible after adding to split diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h index 770b9b92dd..807441cc85 100644 --- a/selfdrive/ui/qt/widgets/controls.h +++ b/selfdrive/ui/qt/widgets/controls.h @@ -1,5 +1,6 @@ #pragma once +#include #include #include #include @@ -60,7 +61,7 @@ public: public slots: void showDescription() { description->setVisible(true); - }; + } signals: void showDescriptionEvent(); @@ -106,7 +107,7 @@ signals: void clicked(); public slots: - void setEnabled(bool enabled) { btn.setEnabled(enabled); }; + void setEnabled(bool enabled) { btn.setEnabled(enabled); } private: QPushButton btn; @@ -163,7 +164,7 @@ public: void setConfirmation(bool _confirm, bool _store_confirm) { confirm = _confirm; store_confirm = _store_confirm; - }; + } void setActiveIcon(const QString &icon) { active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation); @@ -175,11 +176,11 @@ public: toggle.togglePosition(); setIcon(state); } - }; + } void showEvent(QShowEvent *event) override { refresh(); - }; + } private: void setIcon(bool state) { @@ -188,7 +189,7 @@ private: } else if (!icon_pixmap.isNull()) { icon_label->setPixmap(icon_pixmap); } - }; + } std::string key; Params params; @@ -197,6 +198,65 @@ private: bool store_confirm = false; }; +class ButtonParamControl : public AbstractControl { + Q_OBJECT +public: + ButtonParamControl(const QString ¶m, const QString &title, const QString &desc, const QString &icon, + const std::vector &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) { + const QString style = R"( + QPushButton { + border-radius: 50px; + font-size: 40px; + font-weight: 500; + height:100px; + padding: 0 25 0 25; + color: #E4E4E4; + background-color: #393939; + } + QPushButton:pressed { + background-color: #4a4a4a; + } + QPushButton:checked:enabled { + background-color: #33Ab4C; + } + QPushButton:disabled { + color: #33E4E4E4; + } + )"; + key = param.toStdString(); + int value = atoi(params.get(key).c_str()); + + button_group = new QButtonGroup(this); + button_group->setExclusive(true); + for (int i = 0; i < button_texts.size(); i++) { + QPushButton *button = new QPushButton(button_texts[i], this); + button->setCheckable(true); + button->setChecked(i == value); + button->setStyleSheet(style); + button->setMinimumWidth(minimum_button_width); + hlayout->addWidget(button); + button_group->addButton(button, i); + } + + QObject::connect(button_group, QOverload::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) { + if (checked) { + params.put(key, std::to_string(id)); + } + }); + } + + void setEnabled(bool enable) { + for (auto btn : button_group->buttons()) { + btn->setEnabled(enable); + } + } + +private: + std::string key; + Params params; + QButtonGroup *button_group; +}; + class ListWidget : public QWidget { Q_OBJECT public: @@ -236,7 +296,7 @@ class LayoutWidget : public QWidget { public: LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) { setLayout(l); - }; + } }; class ClickableWidget : public QWidget { diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc index 2fa84a232f..86bd918e0c 100644 --- a/selfdrive/ui/qt/widgets/prime.cc +++ b/selfdrive/ui/qt/widgets/prime.cc @@ -14,6 +14,7 @@ #include "selfdrive/ui/qt/request_repeater.h" #include "selfdrive/ui/qt/util.h" #include "selfdrive/ui/qt/qt_window.h" +#include "selfdrive/ui/qt/widgets/wifi.h" using qrcodegen::QrCode; @@ -123,62 +124,21 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QFrame(parent) { QWidget *primeWidget = new QWidget; primeWidget->setObjectName("primeWidget"); QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget); - primeLayout->setContentsMargins(60, 50, 60, 50); + primeLayout->setContentsMargins(56, 40, 56, 40); + primeLayout->setSpacing(20); QLabel *subscribed = new QLabel(tr("✓ SUBSCRIBED")); subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;"); - primeLayout->addWidget(subscribed, 0, Qt::AlignTop); - - primeLayout->addSpacing(60); + primeLayout->addWidget(subscribed); QLabel *commaPrime = new QLabel(tr("comma prime")); commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;"); - primeLayout->addWidget(commaPrime, 0, Qt::AlignTop); - - primeLayout->addSpacing(20); - - QLabel *connectUrl = new QLabel(tr("CONNECT.COMMA.AI")); - connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;"); - primeLayout->addWidget(connectUrl, 0, Qt::AlignTop); + primeLayout->addWidget(commaPrime); mainLayout->addWidget(primeWidget); - - // comma points layout - QWidget *pointsWidget = new QWidget; - pointsWidget->setObjectName("primeWidget"); - QVBoxLayout *pointsLayout = new QVBoxLayout(pointsWidget); - pointsLayout->setContentsMargins(60, 50, 60, 50); - - QLabel *commaPoints = new QLabel(tr("COMMA POINTS")); - commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;"); - pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop); - - points = new QLabel("0"); - points->setStyleSheet("font-size: 91px; font-weight: bold;"); - pointsLayout->addWidget(points, 0, Qt::AlignTop); - - mainLayout->addWidget(pointsWidget); - mainLayout->addStretch(); - - // set up API requests - if (auto dongleId = getDongleId()) { - QString url = CommaApi::BASE_URL + "/v1/devices/" + *dongleId + "/owner"; - RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_Owner", 6); - QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeUserWidget::replyFinished); - } } -void PrimeUserWidget::replyFinished(const QString &response) { - QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8()); - if (doc.isNull()) { - qDebug() << "JSON Parse failed on getting points"; - return; - } - - QJsonObject json = doc.object(); - points->setText(QString::number(json["points"].toInt())); -} PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) { QVBoxLayout *main_layout = new QVBoxLayout(this); @@ -228,8 +188,8 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { QFrame* finishRegistration = new QFrame; finishRegistration->setObjectName("primeWidget"); QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration); - finishRegistationLayout->setSpacing(40); - finishRegistationLayout->setContentsMargins(64, 64, 64, 64); + finishRegistationLayout->setSpacing(38); + finishRegistationLayout->setContentsMargins(64, 48, 64, 48); QLabel* registrationTitle = new QLabel(tr("Finish Setup")); registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;"); @@ -237,7 +197,7 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.")); registrationDescription->setWordWrap(true); - registrationDescription->setStyleSheet("font-size: 55px; font-weight: light;"); + registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;"); finishRegistationLayout->addWidget(registrationDescription); finishRegistationLayout->addStretch(); @@ -267,15 +227,24 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) { outer_layout->setContentsMargins(0, 0, 0, 0); outer_layout->addWidget(mainLayout); - primeAd = new PrimeAdWidget; - mainLayout->addWidget(primeAd); + QWidget *content = new QWidget; + QVBoxLayout *content_layout = new QVBoxLayout(content); + content_layout->setContentsMargins(0, 0, 0, 0); + content_layout->setSpacing(30); primeUser = new PrimeUserWidget; - mainLayout->addWidget(primeUser); + content_layout->addWidget(primeUser); + + WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget; + QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings); + content_layout->addWidget(wifi_prompt); + content_layout->addStretch(); - mainLayout->setCurrentWidget(uiState()->primeType() ? (QWidget*)primeUser : (QWidget*)primeAd); + mainLayout->addWidget(content); + + primeUser->setVisible(uiState()->primeType()); + mainLayout->setCurrentIndex(1); - setFixedWidth(750); setStyleSheet(R"( #primeWidget { border-radius: 10px; @@ -315,10 +284,7 @@ void SetupWidget::replyFinished(const QString &response, bool success) { } else { popup->reject(); - if (prime_type) { - mainLayout->setCurrentWidget(primeUser); - } else { - mainLayout->setCurrentWidget(primeAd); - } + primeUser->setVisible(prime_type); + mainLayout->setCurrentIndex(1); } } diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h index c5732799b8..b41bab1695 100644 --- a/selfdrive/ui/qt/widgets/prime.h +++ b/selfdrive/ui/qt/widgets/prime.h @@ -51,12 +51,6 @@ class PrimeUserWidget : public QFrame { public: explicit PrimeUserWidget(QWidget* parent = 0); - -private: - QLabel *points; - -private slots: - void replyFinished(const QString &response); }; @@ -75,10 +69,12 @@ class SetupWidget : public QFrame { public: explicit SetupWidget(QWidget* parent = 0); +signals: + void openSettings(int index = 0, const QString ¶m = ""); + private: PairingPopup *popup; QStackedWidget *mainLayout; - PrimeAdWidget *primeAd; PrimeUserWidget *primeUser; private slots: diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc new file mode 100644 index 0000000000..b717a00d98 --- /dev/null +++ b/selfdrive/ui/qt/widgets/wifi.cc @@ -0,0 +1,103 @@ +#include "selfdrive/ui/qt/widgets/wifi.h" + +#include +#include +#include +#include + +WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) { + stack = new QStackedLayout(this); + + // Setup Wi-Fi + QFrame *setup = new QFrame; + QVBoxLayout *setup_layout = new QVBoxLayout(setup); + setup_layout->setContentsMargins(56, 40, 56, 40); + setup_layout->setSpacing(20); + { + QHBoxLayout *title_layout = new QHBoxLayout; + title_layout->setSpacing(32); + { + QLabel *icon = new QLabel; + QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg"); + icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation)); + title_layout->addWidget(icon); + + QLabel *title = new QLabel(tr("Setup Wi-Fi")); + title->setStyleSheet("font-size: 64px; font-weight: 600;"); + title_layout->addWidget(title); + title_layout->addStretch(); + } + setup_layout->addLayout(title_layout); + + QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot")); + desc->setStyleSheet("font-size: 40px; font-weight: 400;"); + desc->setWordWrap(true); + setup_layout->addWidget(desc); + + QPushButton *settings_btn = new QPushButton(tr("Open Settings")); + connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); }); + settings_btn->setStyleSheet(R"( + QPushButton { + font-size: 48px; + font-weight: 500; + border-radius: 10px; + background-color: #465BEA; + padding: 32px; + } + QPushButton:pressed { + background-color: #3049F4; + } + )"); + setup_layout->addWidget(settings_btn); + } + stack->addWidget(setup); + + // Uploading data + QWidget *uploading = new QWidget; + QVBoxLayout *uploading_layout = new QVBoxLayout(uploading); + uploading_layout->setContentsMargins(64, 56, 64, 56); + uploading_layout->setSpacing(36); + { + QHBoxLayout *title_layout = new QHBoxLayout; + { + QLabel *title = new QLabel(tr("Uploading training data")); + title->setStyleSheet("font-size: 64px; font-weight: 600;"); + title->setWordWrap(true); + title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum); + title_layout->addWidget(title); + title_layout->addStretch(); + + QLabel *icon = new QLabel; + QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg"); + icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation)); + title_layout->addWidget(icon); + } + uploading_layout->addLayout(title_layout); + + QLabel *desc = new QLabel(tr("Your data is used to train driving models and help improve openpilot")); + desc->setStyleSheet("font-size: 48px; font-weight: 400;"); + desc->setWordWrap(true); + uploading_layout->addWidget(desc); + } + stack->addWidget(uploading); + + setStyleSheet(R"( + WiFiPromptWidget { + background-color: #333333; + border-radius: 10px; + } + )"); + + QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState); +} + +void WiFiPromptWidget::updateState(const UIState &s) { + if (!isVisible()) return; + + auto &sm = *(s.sm); + + auto network_type = sm["deviceState"].getDeviceState().getNetworkType(); + auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI || + network_type == cereal::DeviceState::NetworkType::ETHERNET; + stack->setCurrentIndex(uploading ? 1 : 0); +} diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h new file mode 100644 index 0000000000..60c865f2b8 --- /dev/null +++ b/selfdrive/ui/qt/widgets/wifi.h @@ -0,0 +1,23 @@ +#pragma once + +#include +#include +#include + +#include "selfdrive/ui/ui.h" + +class WiFiPromptWidget : public QFrame { + Q_OBJECT + +public: + explicit WiFiPromptWidget(QWidget* parent = 0); + +signals: + void openSettings(int index = 0, const QString ¶m = ""); + +public slots: + void updateState(const UIState &s); + +protected: + QStackedLayout *stack; +}; diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore index 26335744f3..94ba9a3a97 100644 --- a/selfdrive/ui/tests/.gitignore +++ b/selfdrive/ui/tests/.gitignore @@ -2,3 +2,4 @@ test playsound test_sound test_translations +ui_snapshot diff --git a/selfdrive/ui/tests/ui_snapshot.cc b/selfdrive/ui/tests/ui_snapshot.cc new file mode 100644 index 0000000000..14e0fab835 --- /dev/null +++ b/selfdrive/ui/tests/ui_snapshot.cc @@ -0,0 +1,66 @@ +#include "selfdrive/ui/tests/ui_snapshot.h" + +#include +#include +#include +#include +#include + +#include "selfdrive/ui/qt/home.h" +#include "selfdrive/ui/qt/util.h" +#include "selfdrive/ui/qt/window.h" +#include "selfdrive/ui/ui.h" + +void saveWidgetAsImage(QWidget *widget, const QString &fileName) { + QImage image(widget->size(), QImage::Format_ARGB32); + QPainter painter(&image); + widget->render(&painter); + image.save(fileName); +} + +int main(int argc, char *argv[]) { + initApp(argc, argv); + + QApplication app(argc, argv); + + QCommandLineParser parser; + parser.setApplicationDescription("Take a snapshot of the UI."); + parser.addHelpOption(); + parser.addOption(QCommandLineOption(QStringList() << "o" + << "output", + "Output image file path. The file's suffix is used to " + "determine the format. Supports PNG and JPEG formats. " + "Defaults to \"snapshot.png\".", + "file", "snapshot.png")); + parser.process(app); + + const QString output = parser.value("output"); + if (output.isEmpty()) { + qCritical() << "No output file specified"; + return 1; + } + + auto current = QDir::current(); + + // change working directory to find assets + if (!QDir::setCurrent(QCoreApplication::applicationDirPath() + QDir::separator() + "..")) { + qCritical() << "Failed to set current directory"; + return 1; + } + + MainWindow w; + w.setFixedSize(2160, 1080); + w.show(); + app.installEventFilter(&w); + + // restore working directory + QDir::setCurrent(current.absolutePath()); + + // wait for the UI to update + QObject::connect(uiState(), &UIState::uiUpdate, [&](const UIState &s) { + saveWidgetAsImage(&w, output); + app.quit(); + }); + + return app.exec(); +} diff --git a/selfdrive/ui/tests/ui_snapshot.h b/selfdrive/ui/tests/ui_snapshot.h new file mode 100644 index 0000000000..b4699f6af5 --- /dev/null +++ b/selfdrive/ui/tests/ui_snapshot.h @@ -0,0 +1,5 @@ +#pragma once + +#include + +void saveWidgetAsImage(QWidget *widget, const QString &fileName); diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts index 2e4e833e07..447f66f016 100644 --- a/selfdrive/ui/translations/main_de.ts +++ b/selfdrive/ui/translations/main_de.ts @@ -517,14 +517,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA PUNKTE - QObject @@ -866,6 +858,26 @@ This may take up to a minute. Uninstall Deinstallieren + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -1044,6 +1056,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + + Updater @@ -1080,6 +1112,29 @@ This may take up to a minute. Aktualisierung fehlgeschlagen + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Uploading training data + + + + Your data is used to train driving models and help improve openpilot + + + WifiUI diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts index 06435d3b41..6dc183d7f7 100644 --- a/selfdrive/ui/translations/main_ja.ts +++ b/selfdrive/ui/translations/main_ja.ts @@ -518,14 +518,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS - QObject @@ -862,6 +854,26 @@ This may take up to a minute. Uninstall アンインストール + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -1038,6 +1050,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + + Updater @@ -1074,6 +1106,29 @@ This may take up to a minute. 更新失敗 + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Uploading training data + + + + Your data is used to train driving models and help improve openpilot + + + WifiUI diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts index b55a56a061..1936805aa5 100644 --- a/selfdrive/ui/translations/main_ko.ts +++ b/selfdrive/ui/translations/main_ko.ts @@ -518,14 +518,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS - QObject @@ -863,6 +855,26 @@ This may take up to a minute. Uninstall 제거 + + failed to check for update + 업데이트 확인 실패 + + + up to date, last checked %1 + 최신 상태, 마지막으로 확인 %1 + + + DOWNLOAD + 다운로드 + + + update available + 업데이트 가능 + + + never + 업데이트 안함 + SshControl @@ -1039,6 +1051,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. 이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다. + + Aggressive + 공격적 + + + Standard + 표준 + + + Relaxed + 편안한 + + + Driving Personality + 주행 모드 + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + 표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다. + Updater @@ -1075,6 +1107,29 @@ This may take up to a minute. 업데이트 실패 + + WiFiPromptWidget + + Setup Wi-Fi + Wi-Fi 설정 + + + Connect to Wi-Fi to upload driving data and help improve openpilot + Wi-Fi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 참여하세요. + + + Open Settings + 설정 열기 + + + Uploading training data + 트레이닝 데이터 업로드 + + + Your data is used to train driving models and help improve openpilot + 귀하의 데이터는 운전 모델을 교육하고 openpilot을 개선하는 데 사용됩니다. + + WifiUI diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts index 34fbc8abf0..226416dca9 100644 --- a/selfdrive/ui/translations/main_pt-BR.ts +++ b/selfdrive/ui/translations/main_pt-BR.ts @@ -285,11 +285,11 @@ ExperimentalModeButton EXPERIMENTAL MODE ON - MODO EXPERIMENTAL ATIVADO + MODO EXPERIMENTAL ON CHILL MODE ON - MODO CHILL ATIVADO + MODO CHILL ON @@ -519,14 +519,6 @@ trabalho definido comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - PONTOS COMMA - QObject @@ -867,6 +859,26 @@ Isso pode levar até um minuto. Uninstall Desinstalar + + failed to check for update + falha ao verificar por atualizações + + + up to date, last checked %1 + atualizado, última verificação %1 + + + DOWNLOAD + BAIXAR + + + update available + atualização disponível + + + never + nunca + SshControl @@ -1043,6 +1055,26 @@ Isso pode levar até um minuto. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o alfa de controle longitudinal openpilot. + + Aggressive + Disputa + + + Standard + Neutro + + + Relaxed + Calmo + + + Driving Personality + Temperamento de Direção + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente. + Updater @@ -1079,6 +1111,30 @@ Isso pode levar até um minuto. Falha na atualização + + WiFiPromptWidget + + Setup Wi-Fi + Configurar +Wi-Fi + + + Connect to Wi-Fi to upload driving data and help improve openpilot + Conecte se ao Wi-Fi para upload de dados de condução e ajudar a melhorar o openpilot + + + Open Settings + Abrir Configurações + + + Uploading training data + Subindo dados para treinamento + + + Your data is used to train driving models and help improve openpilot + Seus dados são utilizados para treinar modelos de direção e ajudar a melhorar o openpilot + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index 7cacc72f1c..1d7cdd9f60 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -516,14 +516,6 @@ location set comma prime comma prime - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA POINTS点数 - QObject @@ -860,6 +852,26 @@ This may take up to a minute. Uninstall 卸载 + + failed to check for update + + + + up to date, last checked %1 + + + + DOWNLOAD + + + + update available + + + + never + + SshControl @@ -1036,6 +1048,26 @@ This may take up to a minute. On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. + + Aggressive + + + + Standard + + + + Relaxed + + + + Driving Personality + + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + + Updater @@ -1072,6 +1104,29 @@ This may take up to a minute. 更新失败 + + WiFiPromptWidget + + Setup Wi-Fi + + + + Connect to Wi-Fi to upload driving data and help improve openpilot + + + + Open Settings + + + + Uploading training data + + + + Your data is used to train driving models and help improve openpilot + + + WifiUI diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index e559ca88a6..c6e2d22f5a 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -518,14 +518,6 @@ location set comma prime comma 高級會員 - - CONNECT.COMMA.AI - CONNECT.COMMA.AI - - - COMMA POINTS - COMMA 積分 - QObject @@ -862,6 +854,26 @@ This may take up to a minute. Uninstall 解除安裝 + + failed to check for update + 檢查更新失敗 + + + up to date, last checked %1 + 已經是最新版本，上次檢查時間為 %1 + + + DOWNLOAD + 下載 + + + update available + 有可用的更新 + + + never + 從未更新 + SshControl @@ -1028,15 +1040,35 @@ This may take up to a minute. openpilot Longitudinal Control (Alpha) - + openpilot 縱向控制 (Alpha 版) WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB). - + 警告：此車輛的 Openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。 On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha. - + 在這輛車上，Openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 Openpilot 的縱向控制。啟用此項功能可切換至 Openpilot 的縱向控制。當啟用 Openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。 + + + Aggressive + 積極 + + + Standard + 標準 + + + Relaxed + 舒適 + + + Driving Personality + 駕駛風格 + + + Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. + 推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。 @@ -1074,6 +1106,29 @@ This may take up to a minute. 更新失敗 + + WiFiPromptWidget + + Setup Wi-Fi + 設置 Wi-Fi 連接 + + + Connect to Wi-Fi to upload driving data and help improve openpilot + 請連接至 Wi-Fi 以上傳駕駛數據，並協助改進 openpilot。 + + + Open Settings + 開啟設置 + + + Uploading training data + 正在上傳訓練數據 + + + Your data is used to train driving models and help improve openpilot + 您的數據將用於訓練駕駛模型並協助改進 openpilot + + WifiUI diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py index 5d5a86c512..4cacef4080 100755 --- a/system/hardware/tici/tests/test_amplifier.py +++ b/system/hardware/tici/tests/test_amplifier.py @@ -21,6 +21,7 @@ class TestAmplifier(unittest.TestCase): # clear dmesg subprocess.check_call("sudo dmesg -C", shell=True) + Panda.wait_for_panda(None, 30) self.panda = Panda() self.panda.reset() diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py index df4852183e..7ec31670b1 100755 --- a/system/hardware/tici/tests/test_power_draw.py +++ b/system/hardware/tici/tests/test_power_draw.py @@ -2,30 +2,51 @@ import unittest import time import math +import threading from dataclasses import dataclass from tabulate import tabulate +from typing import List +import cereal.messaging as messaging +from cereal.services import service_list from system.hardware import HARDWARE, TICI from system.hardware.tici.power_monitor import get_power from selfdrive.manager.process_config import managed_processes from selfdrive.manager.manager import manager_cleanup +SAMPLE_TIME = 8 # seconds to sample power @dataclass class Proc: name: str power: float + msgs: List[str] rtol: float = 0.05 atol: float = 0.12 warmup: float = 6. PROCS = [ - Proc('camerad', 2.1), - Proc('modeld', 0.93, atol=0.2), - Proc('dmonitoringmodeld', 0.4), - Proc('encoderd', 0.23), + Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']), + Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']), + Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']), + Proc('encoderd', 0.23, msgs=[]), + Proc('mapsd', 0.05, msgs=['mapRenderState']), + Proc('navmodeld', 0.05, msgs=['navModel']), ] +def send_llk_msg(done): + pm = messaging.PubMaster(['liveLocationKalman']) + msg = messaging.new_message('liveLocationKalman') + msg.liveLocationKalman.positionGeodetic = {'value': [32.7174, -117.16277, 0], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True} + msg.liveLocationKalman.status = 'valid' + + # Send liveLocationKalman at 20hz + while not done.is_set(): + msg.clear_write_flag() + pm.send('liveLocationKalman', msg) + time.sleep(1/20) + class TestPowerDraw(unittest.TestCase): @@ -46,27 +67,39 @@ class TestPowerDraw(unittest.TestCase): def test_camera_procs(self): baseline = get_power() + done = threading.Event() + thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True) + thread.start() prev = baseline used = {} + msg_counts = {} for proc in PROCS: + socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs} managed_processes[proc.name].start() time.sleep(proc.warmup) + for sock in socks.values(): + messaging.drain_sock_raw(sock) - now = get_power(8) + now = get_power(SAMPLE_TIME) used[proc.name] = now - prev prev = now + for msg,sock in socks.items(): + msg_counts[msg] = len(messaging.drain_sock_raw(sock)) + done.set() manager_cleanup() - tab = [] - tab.append(['process', 'expected (W)', 'measured (W)']) + tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']] for proc in PROCS: cur = used[proc.name] expected = proc.power - tab.append([proc.name, round(expected, 2), round(cur, 2)]) + msgs_received = sum(msg_counts[msg] for msg in proc.msgs) + msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs)) + tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received]) with self.subTest(proc=proc.name): self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol)) + self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2)) print(tabulate(tab)) print(f"Baseline {baseline:.2f}W\n") diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc index 08eaf0ff01..7ac2948861 100644 --- a/system/loggerd/encoder/encoder.cc +++ b/system/loggerd/encoder/encoder.cc @@ -5,9 +5,7 @@ VideoEncoder::~VideoEncoder() {} void VideoEncoder::publisher_init() { // publish - service_name = this->type == DriverCam ? "driverEncodeData" : - (this->type == WideRoadCam ? "wideRoadEncodeData" : - (this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData")); + service_name = this->publish_name; pm.reset(new PubMaster({service_name})); } @@ -38,45 +36,5 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t auto words = new kj::Array(capnp::messageToFlatArray(msg)); auto bytes = words->asBytes(); e->pm->send(e->service_name, bytes.begin(), bytes.size()); - if (e->write) { - e->to_write.push(words); - } else { - delete words; - } -} - -// TODO: writing should be moved to loggerd -void VideoEncoder::write_handler(VideoEncoder *e, const char *path) { - VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec); - - bool first = true; - kj::Array* out_buf; - while ((out_buf = e->to_write.pop())) { - capnp::FlatArrayMessageReader cmsg(*out_buf); - cereal::Event::Reader event = cmsg.getRoot(); - - auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() : - ((e->type == WideRoadCam) ? event.getWideRoadEncodeData() : - (e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData())); - auto idx = edata.getIdx(); - auto flags = idx.getFlags(); - - if (first) { - assert(flags & V4L2_BUF_FLAG_KEYFRAME); - auto header = edata.getHeader(); - writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); - first = false; - } - - // dangerous cast from const, but should be fine - auto data = edata.getData(); - if (data.size() > 0) { - writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME); - } - - // free the data - delete out_buf; - } - - // VideoWriter is freed on out of scope + delete words; } diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h index 88dd5cee23..9ea6b884cf 100644 --- a/system/loggerd/encoder/encoder.h +++ b/system/loggerd/encoder/encoder.h @@ -7,7 +7,6 @@ #include "cereal/messaging/messaging.h" #include "cereal/visionipc/visionipc.h" #include "common/queue.h" -#include "system/loggerd/video_writer.h" #include "system/camerad/cameras/camera_common.h" #define V4L2_BUF_FLAG_KEYFRAME 8 @@ -15,9 +14,11 @@ class VideoEncoder { public: VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, + const char* publish_name) : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps), - bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { } + bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), + publish_name(publish_name) { } virtual ~VideoEncoder(); virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0; virtual void encoder_open(const char* path) = 0; @@ -26,21 +27,10 @@ public: void publisher_init(); static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr header, kj::ArrayPtr dat); - void writer_open(const char* path) { - if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path); - } - - void writer_close() { - if (this->write) { - to_write.push(NULL); - write_handler_thread.join(); - } - assert(to_write.empty()); - } protected: - bool write; const char* filename; + const char* publish_name; int in_width, in_height; int out_width, out_height, fps; int bitrate; @@ -54,9 +44,4 @@ private: // publishing std::unique_ptr pm; const char *service_name; - - // writing support - static void write_handler(VideoEncoder *e, const char *path); - std::thread write_handler_thread; - SafeQueue* > to_write; }; diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc index 275da34f18..af05b5df97 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.cc +++ b/system/loggerd/encoder/ffmpeg_encoder.cc @@ -60,7 +60,6 @@ void FfmpegEncoder::encoder_open(const char* path) { int err = avcodec_open2(this->codec_ctx, codec, NULL); assert(err >= 0); - writer_open(path); is_open = true; segment_num++; counter = 0; @@ -69,7 +68,6 @@ void FfmpegEncoder::encoder_open(const char* path) { void FfmpegEncoder::encoder_close() { if (!is_open) return; - writer_close(); avcodec_free_context(&codec_ctx); is_open = false; } diff --git a/system/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h index 9095a6e815..6b4b6e104c 100644 --- a/system/loggerd/encoder/ffmpeg_encoder.h +++ b/system/loggerd/encoder/ffmpeg_encoder.h @@ -17,8 +17,10 @@ extern "C" { class FfmpegEncoder : public VideoEncoder { public: FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, write) { encoder_init(); } + + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, + const char* publish_name) : + VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, publish_name) { encoder_init(); } ~FfmpegEncoder(); void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 16e7246ff4..976839eef3 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -255,7 +255,6 @@ void V4LEncoder::encoder_init() { void V4LEncoder::encoder_open(const char* path) { dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this); - writer_open(path); this->is_open = true; this->counter = 0; } @@ -288,7 +287,6 @@ void V4LEncoder::encoder_close() { // join waits for V4L2_QCOM_BUF_FLAG_EOS dequeue_handler_thread.join(); assert(extras.empty()); - writer_close(); } this->is_open = false; } diff --git a/system/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h index d4b0a1211d..b0af4039fe 100644 --- a/system/loggerd/encoder/v4l_encoder.h +++ b/system/loggerd/encoder/v4l_encoder.h @@ -9,8 +9,8 @@ class V4LEncoder : public VideoEncoder { public: V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps, - int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) : - VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); } + int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, const char* publish_name) : + VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, publish_name) { encoder_init(); } ~V4LEncoder(); void encoder_init(); int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra); diff --git a/system/loggerd/encoderd.cc b/system/loggerd/encoderd.cc index 12b58b6591..b4f0b913e5 100644 --- a/system/loggerd/encoderd.cc +++ b/system/loggerd/encoderd.cc @@ -35,7 +35,7 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) { void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { - util::set_thread_name(cam_info.filename); + util::set_thread_name(cam_info.thread_name); std::vector encoders; VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false); @@ -50,20 +50,15 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // init encoders if (encoders.empty()) { VisionBuf buf_info = vipc_client.buffers[0]; - LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height); + LOGW("encoder %s init %dx%d", cam_info.thread_name, buf_info.width, buf_info.height); if (buf_info.width > 0 && buf_info.height > 0) { - // main encoder - encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height, - cam_info.fps, cam_info.bitrate, - cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - buf_info.width, buf_info.height, false)); - // qcamera encoder - if (cam_info.has_qcamera) { - encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height, - qcam_info.fps, qcam_info.bitrate, - qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264, - qcam_info.frame_width, qcam_info.frame_height, false)); + for (const auto &encoder_info: cam_info.encoder_infos){ + encoders.push_back(new Encoder(encoder_info.filename, cam_info.type, buf_info.width, buf_info.height, + encoder_info.fps, encoder_info.bitrate, + encoder_info.encode_type, + encoder_info.frame_width, encoder_info.frame_height, + encoder_info.publish_name)); } } else { LOGE("not initting empty encoder"); @@ -85,7 +80,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) { // detect loop around and drop the frames if (buf->get_frame_id() != extra.frame_id) { if (!lagging) { - LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id); + LOGE("encoder %s lag buffer id: %d extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id); lagging = true; } continue; diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc index a7f7db4801..9ad3687613 100644 --- a/system/loggerd/loggerd.cc +++ b/system/loggerd/loggerd.cc @@ -58,18 +58,13 @@ struct RemoteEncoder { bool seen_first_packet = false; }; -int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) { - const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] : - ((name == "wideRoadEncodeData") ? cameras_logged[2] : - ((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0])); +int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, EncoderInfo encoder_info) { int bytes_count = 0; // extract the message capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word))); auto event = cmsg.getRoot(); - auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() : - ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() : - ((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData())); + auto edata = (event.*(encoder_info.get_encode_data_func))(); auto idx = edata.getIdx(); auto flags = idx.getFlags(); @@ -95,7 +90,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct // we are in this segment now, process any queued messages before this one if (!re.q.empty()) { for (auto &qmsg: re.q) { - bytes_count += handle_encoder_msg(s, qmsg, name, re); + bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info); } re.q.clear(); } @@ -111,10 +106,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct re.dropped_frames = 0; } // if we aren't actually recording, don't create the writer - if (cam_info.record) { + if (encoder_info.record) { re.writer.reset(new VideoWriter(s->segment_path, - cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, - cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType())); + encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C, + encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType())); // write the header auto header = edata.getHeader(); re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false); @@ -142,10 +137,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct MessageBuilder bmsg; auto evt = bmsg.initEvent(event.getValid()); evt.setLogMonoTime(event.getLogMonoTime()); - if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); } - if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); } - if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); } - if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); } + (evt.*(encoder_info.set_encode_idx_func))(idx); auto new_msg = bmsg.toBytes(); logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true); // always in qlog? bytes_count += new_msg.size(); @@ -211,11 +203,12 @@ void loggerd_thread() { logger_rotate(&s); Params().put("CurrentRoute", s.logger.route_name); - // init encoders - s.last_camera_seen_tms = millis_since_boot(); + std::map encoder_infos_dict; for (const auto &cam : cameras_logged) { - s.max_waiting++; - if (cam.has_qcamera) { s.max_waiting++; } + for (const auto &encoder_info: cam.encoder_infos) { + encoder_infos_dict[encoder_info.publish_name] = encoder_info; + s.max_waiting++; + } } uint64_t msg_count = 0, bytes_count = 0; @@ -234,7 +227,7 @@ void loggerd_thread() { if (qs.encoder) { s.last_camera_seen_tms = millis_since_boot(); - bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock]); + bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock], encoder_infos_dict[qs.name]); } else { logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog); bytes_count += msg->getSize(); diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h index 1b8f9e0d2a..579b079dbb 100644 --- a/system/loggerd/loggerd.h +++ b/system/loggerd/loggerd.h @@ -35,69 +35,87 @@ constexpr int MAIN_FPS = 20; const int MAIN_BITRATE = 10000000; -const int DCAM_BITRATE = MAIN_BITRATE; #define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead const bool LOGGERD_TEST = getenv("LOGGERD_TEST"); const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60; -struct LogCameraInfo { - CameraType type; +class EncoderInfo { +public: + const char *publish_name; const char *filename; + bool record = true; + int frame_width = 1928; + int frame_height = 1208; + int fps = MAIN_FPS; + int bitrate = MAIN_BITRATE; + cereal::EncodeIndex::Type encode_type = cereal::EncodeIndex::Type::FULL_H_E_V_C; + ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const; + void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader); +}; + +class LogCameraInfo { +public: + const char *thread_name; + int fps = MAIN_FPS; + CameraType type; VisionStreamType stream_type; - int frame_width, frame_height; - int fps; - int bitrate; - bool is_h265; - bool has_qcamera; - bool record; + std::vector encoder_infos; }; -const LogCameraInfo cameras_logged[] = { - { - .type = RoadCam, - .stream_type = VISION_STREAM_ROAD, - .filename = "fcamera.hevc", - .fps = MAIN_FPS, - .bitrate = MAIN_BITRATE, - .is_h265 = true, - .has_qcamera = true, - .record = true, - .frame_width = 1928, - .frame_height = 1208, - }, - { - .type = DriverCam, - .stream_type = VISION_STREAM_DRIVER, - .filename = "dcamera.hevc", - .fps = MAIN_FPS, - .bitrate = DCAM_BITRATE, - .is_h265 = true, - .has_qcamera = false, - .record = Params().getBool("RecordFront"), - .frame_width = 1928, - .frame_height = 1208, - }, - { - .type = WideRoadCam, - .stream_type = VISION_STREAM_WIDE_ROAD, - .filename = "ecamera.hevc", - .fps = MAIN_FPS, - .bitrate = MAIN_BITRATE, - .is_h265 = true, - .has_qcamera = false, - .record = true, - .frame_width = 1928, - .frame_height = 1208, - }, +const EncoderInfo main_road_encoder_info = { + .publish_name = "roadEncodeData", + .filename = "fcamera.hevc", + .get_encode_data_func = &cereal::Event::Reader::getRoadEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setRoadEncodeIdx, +}; +const EncoderInfo main_wide_road_encoder_info = { + .publish_name = "wideRoadEncodeData", + .filename = "ecamera.hevc", + .get_encode_data_func = &cereal::Event::Reader::getWideRoadEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setWideRoadEncodeIdx, +}; +const EncoderInfo main_driver_encoder_info = { + .publish_name = "driverEncodeData", + .filename = "dcamera.hevc", + .record = Params().getBool("RecordFront"), + .get_encode_data_func = &cereal::Event::Reader::getDriverEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setDriverEncodeIdx, }; -const LogCameraInfo qcam_info = { + +const EncoderInfo qcam_encoder_info = { + .publish_name = "qRoadEncodeData", .filename = "qcamera.ts", - .fps = MAIN_FPS, .bitrate = 256000, - .is_h265 = false, - .record = true, + .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .frame_width = 526, .frame_height = 330, + .get_encode_data_func = &cereal::Event::Reader::getQRoadEncodeData, + .set_encode_idx_func = &cereal::Event::Builder::setQRoadEncodeIdx, }; + + +const LogCameraInfo road_camera_info{ + .thread_name = "road_cam_encoder", + .type = RoadCam, + .stream_type = VISION_STREAM_ROAD, + .encoder_infos = {main_road_encoder_info, qcam_encoder_info} + }; + +const LogCameraInfo wide_road_camera_info{ + .thread_name = "wide_road_cam_encoder", + .type = WideRoadCam, + .stream_type = VISION_STREAM_WIDE_ROAD, + .encoder_infos = {main_wide_road_encoder_info} + }; + +const LogCameraInfo driver_camera_info{ + .thread_name = "driver_cam_encoder", + .type = DriverCam, + .stream_type = VISION_STREAM_DRIVER, + .encoder_infos = {main_driver_encoder_info} + }; + +const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info}; + diff --git a/system/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py index 539a6308a7..46f5cf83c9 100755 --- a/system/sensord/rawgps/rawgpsd.py +++ b/system/sensord/rawgps/rawgpsd.py @@ -110,36 +110,52 @@ def gps_enabled() -> bool: raise Exception("failed to execute QGPS mmcli command") from exc def download_and_inject_assistance(): - assist_data_file = '/tmp/xtra3grc.bin' + assist_data_file = '/tmp/xtra3grc.bin' assistance_url = 'http://xtrapath3.izatcloud.net/xtra3grc.bin' + try: - c = pycurl.Curl() - c.setopt(c.URL, assistance_url) - c.setopt(c.NOBODY, 1) - c.setopt(pycurl.CONNECTTIMEOUT, 2) - c.perform() - c.close() - bytes_n = c.getinfo(c.CONTENT_LENGTH_DOWNLOAD) - if bytes_n > 1e5: - cloudlog.exception("Qcom assistance data larger than expected") - return - with open(assist_data_file, "wb") as fp: + # download assistance + try: c = pycurl.Curl() c.setopt(pycurl.URL, assistance_url) - c.setopt(pycurl.CONNECTTIMEOUT, 5) - - c.setopt(pycurl.WRITEDATA, fp) + c.setopt(pycurl.NOBODY, 1) + c.setopt(pycurl.CONNECTTIMEOUT, 2) c.perform() + bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD) c.close() - except pycurl.error as e: - cloudlog.exception(f'Failed to download assistance file with error: {e}') - if os.path.isfile(assist_data_file): + if bytes_n > 1e5: + cloudlog.error("Qcom assistance data larger than expected") + return + + with open(assist_data_file, 'wb') as fp: + c = pycurl.Curl() + c.setopt(pycurl.URL, assistance_url) + c.setopt(pycurl.CONNECTTIMEOUT, 5) + + c.setopt(pycurl.WRITEDATA, fp) + c.perform() + c.close() + except pycurl.error: + cloudlog.exception("Failed to download assistance file") + return + + # inject into module try: - subprocess.check_call(f"mmcli -m any --timeout 30 --location-inject-assistance-data={assist_data_file}", shell=True) - except subprocess.CalledProcessError: - cloudlog.exception("rawgps.mmcli_command_failed") - if os.path.isfile(assist_data_file): - os.remove(assist_data_file) + cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={assist_data_file}" + subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True) + cloudlog.info("successfully loaded assistance data") + except subprocess.CalledProcessError as e: + cloudlog.event( + "rawgps.assistance_loading_failed", + error=True, + cmd=e.cmd, + output=e.output, + returncode=e.returncode + ) + finally: + if os.path.exists(assist_data_file): + os.remove(assist_data_file) + def setup_quectel(diag: ModemDiag): # enable OEMDRE in the NV diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc index 3a03ee0b70..ed93a07e40 100644 --- a/tools/cabana/binaryview.cc +++ b/tools/cabana/binaryview.cc @@ -127,15 +127,6 @@ void BinaryView::highlight(const cabana::Signal *sig) { } } - if (sig && underMouse()) { - QString tooltip = tr(R"(%1
- Size:%2 LE:%3 SGD:%4 - )").arg(sig->name).arg(sig->size).arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); - QToolTip::showText(QCursor::pos(), tooltip, this, rect()); - } else { - QToolTip::showText(QCursor::pos(), "", this, rect()); - } - hovered_sig = sig; emit signalHovered(hovered_sig); } @@ -165,7 +156,7 @@ void BinaryView::mousePressEvent(QMouseEvent *event) { if (bit_idx == s->lsb || bit_idx == s->msb) { anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true); resize_sig = s; - delegate->selection_color = getColor(s); + delegate->selection_color = s->color; break; } } @@ -277,8 +268,12 @@ void BinaryViewModel::refresh() { } if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true; if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true; - items[idx].bg_color = getColor(sig); - items[idx].sigs.push_back(sig); + + auto &sigs = items[idx].sigs; + sigs.push_back(sig); + if (sigs.size() > 1) { + std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) { return l->size > r->size; }); + } } } } else { @@ -345,6 +340,16 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i return {}; } +QVariant BinaryViewModel::data(const QModelIndex &index, int role) const { + if (role == Qt::ToolTipRole) { + auto item = (const BinaryViewModel::Item *)index.internalPointer(); + if (item && !item->sigs.empty()) { + return signalToolTip(item->sigs.back()); + } + } + return {}; +} + // BinaryItemDelegate BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { @@ -353,15 +358,11 @@ BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(pa hex_font.setBold(true); } -bool BinaryItemDelegate::isSameColor(const QModelIndex &index, int dx, int dy) const { - QModelIndex index2 = index.sibling(index.row() + dy, index.column() + dx); - if (!index2.isValid()) { - return false; - } - auto color1 = ((const BinaryViewModel::Item *)index.internalPointer())->bg_color; - auto color2 = ((const BinaryViewModel::Item *)index2.internalPointer())->bg_color; - // Ignore alpha - return (color1.red() == color2.red()) && (color2.green() == color2.green()) && (color1.blue() == color2.blue()); +bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const { + if (!index.isValid()) return false; + auto model = (const BinaryViewModel*)(index.model()); + int idx = (index.row() + dy) * model->columnCount() + index.column() + dx; + return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false; } void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { @@ -370,28 +371,32 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op painter->save(); if (index.column() == 8) { - painter->setFont(hex_font); - painter->fillRect(option.rect, item->bg_color); + if (item->valid) { + painter->setFont(hex_font); + painter->fillRect(option.rect, item->bg_color); + } } else if (option.state & QStyle::State_Selected) { painter->fillRect(option.rect, selection_color); painter->setPen(option.palette.color(QPalette::BrightText)); - } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { // not resizing - QColor bg = item->bg_color; - if (bin_view->hovered_sig && item->sigs.contains(bin_view->hovered_sig)) { - bg.setAlpha(255); - painter->fillRect(option.rect, bg.darker(125)); // 4/5x brightness - painter->setPen(option.palette.color(QPalette::BrightText)); - } else { - if (item->sigs.size() > 0) { - drawBorder(painter, option, index); - bg.setAlpha(std::max(50, bg.alpha())); + } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) { // not resizing + if (item->sigs.size() > 0) { + for (auto &s : item->sigs) { + if (s == bin_view->hovered_sig) { + painter->fillRect(option.rect, s->color.darker(125)); // 4/5x brightness + } else { + drawSignalCell(painter, option, index, s); + } } - painter->fillRect(option.rect, bg); - painter->setPen(option.palette.color(QPalette::Text)); + } else if (item->valid) { + painter->fillRect(option.rect, item->bg_color); } + auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text; + painter->setPen(option.palette.color(color_role)); } - if (!item->valid) { + if (item->sigs.size() > 1) { + painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::Dense7Pattern)); + } else if (!item->valid) { painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern)); } painter->drawText(option.rect, Qt::AlignCenter, item->val); @@ -403,44 +408,50 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op } // Draw border on edge of signal -void BinaryItemDelegate::drawBorder(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index) const { - auto item = (const BinaryViewModel::Item *)index.internalPointer(); - QColor border_color = item->bg_color; - border_color.setAlphaF(1.0); - - bool draw_left = !isSameColor(index, -1, 0); - bool draw_top = !isSameColor(index, 0, -1); - bool draw_right = !isSameColor(index, 1, 0); - bool draw_bottom = !isSameColor(index, 0, 1); +void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionViewItem &option, + const QModelIndex &index, const cabana::Signal *sig) const { + bool draw_left = !hasSignal(index, -1, 0, sig); + bool draw_top = !hasSignal(index, 0, -1, sig); + bool draw_right = !hasSignal(index, 1, 0, sig); + bool draw_bottom = !hasSignal(index, 0, 1, sig); const int spacing = 2; QRect rc = option.rect.adjusted(draw_left * 3, draw_top * spacing, draw_right * -3, draw_bottom * -spacing); QRegion subtract; if (!draw_top) { - if (!draw_left && !isSameColor(index, -1, -1)) { + if (!draw_left && !hasSignal(index, -1, -1, sig)) { subtract += QRect{rc.left(), rc.top(), 3, spacing}; - } else if (!draw_right && !isSameColor(index, 1, -1)) { + } else if (!draw_right && !hasSignal(index, 1, -1, sig)) { subtract += QRect{rc.right() - 2, rc.top(), 3, spacing}; } } if (!draw_bottom) { - if (!draw_left && !isSameColor(index, -1, 1)) { + if (!draw_left && !hasSignal(index, -1, 1, sig)) { subtract += QRect{rc.left(), rc.bottom() - (spacing - 1), 3, spacing}; - } else if (!draw_right && !isSameColor(index, 1, 1)) { + } else if (!draw_right && !hasSignal(index, 1, 1, sig)) { subtract += QRect{rc.right() - 2, rc.bottom() - (spacing - 1), 3, spacing}; } } + painter->setClipRegion(QRegion(rc).subtracted(subtract)); - painter->setPen(QPen(border_color, 1)); + auto item = (const BinaryViewModel::Item *)index.internalPointer(); + QColor color = sig->color; + color.setAlpha(item->bg_color.alpha()); + // Mixing the signal colour with the Base background color to fade it + painter->fillRect(rc, QApplication::palette().color(QPalette::Base)); + painter->fillRect(rc, color); + + // Draw edges + color = sig->color.darker(125); + painter->setPen(QPen(color, 1)); if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft()); if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight()); if (draw_bottom) painter->drawLine(rc.bottomLeft(), rc.bottomRight()); if (draw_top) painter->drawLine(rc.topLeft(), rc.topRight()); - painter->setClipRegion(QRegion(rc).subtracted(subtract)); if (!subtract.isEmpty()) { // fill gaps inside corners. - painter->setPen(QPen(border_color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin)); + painter->setPen(QPen(color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin)); for (auto &r : subtract) { painter->drawRect(r); } diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h index f80b4520ed..d9966c9110 100644 --- a/tools/cabana/binaryview.h +++ b/tools/cabana/binaryview.h @@ -14,8 +14,8 @@ public: BinaryItemDelegate(QObject *parent); void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; void setSelectionColor(const QColor &color) { selection_color = color; } - bool isSameColor(const QModelIndex &index, int dx, int dy) const; - void drawBorder(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index) const; + bool hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const; + void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const; QFont small_font, hex_font; QColor selection_color; @@ -28,7 +28,7 @@ public: void updateState(); void updateItem(int row, int col, const QString &val, const QColor &color); QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override; - QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; } + QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override; int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; } int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; } inline QModelIndex bitIndex(int bit, bool is_lb) const { return index(bit / 8, is_lb ? (7 - bit % 8) : bit % 8); } @@ -40,7 +40,7 @@ public: } struct Item { - QColor bg_color = QColor(102, 86, 169, 0); + QColor bg_color = QColor(102, 86, 169, 255); bool is_msb = false; bool is_lsb = false; QString val; diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc index 0a4b9eb112..d2c451be89 100644 --- a/tools/cabana/cabana.cc +++ b/tools/cabana/cabana.cc @@ -42,7 +42,12 @@ int main(int argc, char *argv[]) { if (cmd_parser.isSet("panda-serial")) { config.serial = cmd_parser.value("panda-serial"); } - stream = new PandaStream(&app, config); + try { + stream = new PandaStream(&app, config); + } catch (std::exception &e) { + qWarning() << e.what(); + return 0; + } } else { uint32_t replay_flags = REPLAY_FLAG_NONE; if (cmd_parser.isSet("ecam")) { @@ -83,5 +88,8 @@ int main(int argc, char *argv[]) { w.loadFile(dbc_file); } w.show(); - return app.exec(); + + int ret = app.exec(); + delete can; + return ret; } diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc index a7f700f3c2..622b79d806 100644 --- a/tools/cabana/chart/chart.cc +++ b/tools/cabana/chart/chart.cc @@ -38,7 +38,6 @@ ChartView::ChartView(const std::pair &x_range, ChartsWidget *par setChart(chart); createToolButtons(); - // TODO: enable zoomIn/seekTo in live streaming mode. setRubberBand(QChartView::HorizontalRubberBand); setMouseTracking(true); setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight); @@ -107,14 +106,14 @@ void ChartView::setTheme(QChart::ChartTheme theme) { chart()->legend()->setLabelColor(palette().color(QPalette::Text)); } for (auto &s : sigs) { - s.series->setColor(getColor(s.sig)); + s.series->setColor(s.sig->color); } } void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) { if (hasSignal(msg_id, sig)) return; - QXYSeries *series = createSeries(series_type, getColor(sig)); + QXYSeries *series = createSeries(series_type, sig->color); sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series}); updateSeries(sig); updateSeriesPoints(); @@ -154,8 +153,9 @@ void ChartView::signalUpdated(const cabana::Signal *sig) { } void ChartView::msgUpdated(MessageId id) { - if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id == id; })) + if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id.address == id.address; })) { updateTitle(); + } } void ChartView::manageSignals() { @@ -213,9 +213,19 @@ void ChartView::updateTitle() { for (QLegendMarker *marker : chart()->legend()->markers()) { QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection); } + + // Use CSS to draw titles in the WindowText color + auto tmp = palette().color(QPalette::WindowText); + auto titleColorCss = tmp.name(QColor::HexArgb); + // Draw message details in similar color, but slightly fade it to the background + tmp.setAlpha(180); + auto msgColorCss = tmp.name(QColor::HexArgb); + for (auto &s : sigs) { auto decoration = s.series->isVisible() ? "none" : "line-through"; - s.series->setName(QString("%2 %3 %4").arg(decoration, s.sig->name, msgName(s.msg_id), s.msg_id.toString())); + s.series->setName(QString("%3 %5 %6") + .arg(decoration, titleColorCss, s.sig->name, + msgColorCss, msgName(s.msg_id), s.msg_id.toString())); } split_chart_act->setEnabled(sigs.size() > 1); resetChartCache(); @@ -267,7 +277,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, bool clear) { s.step_vals.clear(); s.last_value_mono_time = 0; } - s.series->setColor(getColor(s.sig)); + s.series->setColor(s.sig->color); const auto &msgs = can->events(s.msg_id); s.vals.reserve(msgs.capacity()); @@ -789,7 +799,7 @@ void ChartView::setSeriesType(SeriesType type) { s.series->deleteLater(); } for (auto &s : sigs) { - auto series = createSeries(series_type, getColor(s.sig)); + auto series = createSeries(series_type, s.sig->color); series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals); s.series = series; } diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h index 3bb191e5cd..272ea0d193 100644 --- a/tools/cabana/chart/chart.h +++ b/tools/cabana/chart/chart.h @@ -56,7 +56,7 @@ private slots: void manageSignals(); void handleMarkerClicked(); void msgUpdated(MessageId id); - void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id == id; }); } + void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id.address == id.address && !dbc()->msg(id); }); } void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); } private: diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc index 1aa8fc5016..50fe861a03 100644 --- a/tools/cabana/chart/signalselector.cc +++ b/tools/cabana/chart/signalselector.cc @@ -91,7 +91,7 @@ void SignalSelector::updateAvailableList(int index) { } void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) { - QString text = QString("■ %1").arg(getColor(sig).name(), sig->name); + QString text = QString("■ %1").arg(sig->color.name(), sig->name); if (show_msg_name) text += QString(" %0 %1").arg(msgName(id), id.toString()); QLabel *label = new QLabel(text); diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc index 6d7b35f3a9..bac867bd20 100644 --- a/tools/cabana/chart/sparkline.cc +++ b/tools/cabana/chart/sparkline.cc @@ -37,7 +37,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl max_val += 1; } } - render(getColor(sig), size); + render(sig->color, size); } else { pixmap = QPixmap(); min_val = -1; diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc index ac91922e01..1ac99ad464 100644 --- a/tools/cabana/dbc/dbc.cc +++ b/tools/cabana/dbc/dbc.cc @@ -1,26 +1,96 @@ #include "tools/cabana/dbc/dbc.h" + #include "tools/cabana/util.h" uint qHash(const MessageId &item) { return qHash(item.source) ^ qHash(item.address); } -std::vector cabana::Msg::getSignals() const { - std::vector ret; - ret.reserve(sigs.size()); - for (auto &sig : sigs) ret.push_back(&sig); - std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; }); - return ret; +// cabana::Msg + +cabana::Msg::~Msg() { + for (auto s : sigs) { + delete s; + } } -void cabana::Msg::updateMask() { +cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) { + auto s = sigs.emplace_back(new cabana::Signal(sig)); + update(); + return s; +} + +cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) { + auto s = sig(sig_name); + if (s) { + *s = new_sig; + update(); + } + return s; +} + +void cabana::Msg::removeSignal(const QString &sig_name) { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; }); + if (it != sigs.end()) { + delete *it; + sigs.erase(it); + update(); + } +} + +cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) { + address = other.address; + name = other.name; + size = other.size; + comment = other.comment; + + for (auto s : sigs) delete s; + sigs.clear(); + for (auto s : other.sigs) { + sigs.push_back(new cabana::Signal(*s)); + } + + update(); + return *this; +} + +cabana::Signal *cabana::Msg::sig(const QString &sig_name) const { + auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; }); + return it != sigs.end() ? *it : nullptr; +} + +int cabana::Msg::indexOf(const cabana::Signal *sig) const { + for (int i = 0; i < sigs.size(); ++i) { + if (sigs[i] == sig) return i; + } + return -1; +} + +QString cabana::Msg::newSignalName() { + QString new_name; + for (int i = 1; /**/; ++i) { + new_name = QString("NEW_SIGNAL_%1").arg(i); + if (sig(new_name) == nullptr) break; + } + return new_name; +} + +void cabana::Msg::update() { mask = QVector(size, 0x00).toList(); + // sort signals + std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) { + return std::tie(l->start_bit, l->name) < std::tie(r->start_bit, r->name); + }); + for (auto &sig : sigs) { - int i = sig.msb / 8; - int bits = sig.size; + sig->update(); + + // update mask + int i = sig->msb / 8; + int bits = sig->size; while (i >= 0 && i < size && bits > 0) { - int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8; - int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1; + int lsb = (int)(sig->lsb / 8) == i ? sig->lsb : i * 8; + int msb = (int)(sig->msb / 8) == i ? sig->msb : (i + 1) * 8 - 1; int sz = msb - lsb + 1; int shift = (lsb - (i * 8)); @@ -28,19 +98,28 @@ void cabana::Msg::updateMask() { mask[i] |= ((1ULL << sz) - 1) << shift; bits -= size; - i = sig.is_little_endian ? i - 1 : i + 1; + i = sig->is_little_endian ? i - 1 : i + 1; } } } -void cabana::Signal::updatePrecision() { +// cabana::Signal + +void cabana::Signal::update() { + float h = 19 * (float)lsb / 64.0; + h = fmod(h, 1.0); + size_t hash = qHash(name); + float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0; + float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0; + + color = QColor::fromHsvF(h, s, v); precision = std::max(num_decimals(factor), num_decimals(offset)); } QString cabana::Signal::formatValue(double value) const { // Show enum string - for (auto &[val, desc] : val_desc) { - if (std::abs(value - val.toInt()) < 1e-6) { + for (const auto &[val, desc] : val_desc) { + if (std::abs(value - val) < 1e-6) { return desc; } } diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h index b43d9cdecc..56a3ea9a65 100644 --- a/tools/cabana/dbc/dbc.h +++ b/tools/cabana/dbc/dbc.h @@ -1,9 +1,10 @@ #pragma once -#include +#include #include #include #include +#include #include "opendbc/can/common_dbc.h" @@ -42,44 +43,58 @@ struct std::hash { std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); } }; -typedef QList> ValueDescription; +typedef QList> ValueDescription; namespace cabana { - struct Signal { - QString name; - int start_bit, msb, lsb, size; - bool is_signed; - double factor, offset; - bool is_little_endian; - double min, max; - QString unit; - QString comment; - ValueDescription val_desc; - int precision = 0; - void updatePrecision(); - QString formatValue(double value) const; - }; - - struct Msg { - uint32_t address; - QString name; - uint32_t size; - QString comment; - QList sigs; - - QList mask; - void updateMask(); - - std::vector getSignals() const; - const cabana::Signal *sig(const QString &sig_name) const { - auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.name == sig_name; }); - return it != sigs.end() ? &(*it) : nullptr; - } - }; - - bool operator==(const cabana::Signal &l, const cabana::Signal &r); - inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); } -} + +class Signal { +public: + Signal() = default; + Signal(const Signal &other) = default; + void update(); + QString formatValue(double value) const; + + QString name; + int start_bit, msb, lsb, size; + double factor, offset; + bool is_signed; + bool is_little_endian; + double min, max; + QString unit; + QString comment; + ValueDescription val_desc; + int precision = 0; + QColor color; +}; + +class Msg { +public: + Msg() = default; + Msg(const Msg &other) { *this = other; } + ~Msg(); + cabana::Signal *addSignal(const cabana::Signal &sig); + cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig); + void removeSignal(const QString &sig_name); + Msg &operator=(const Msg &other); + int indexOf(const cabana::Signal *sig) const; + cabana::Signal *sig(const QString &sig_name) const; + QString newSignalName(); + inline const std::vector &getSignals() const { return sigs; } + + uint32_t address; + QString name; + uint32_t size; + QString comment; + std::vector sigs; + + QList mask; + void update(); +}; + +bool operator==(const cabana::Signal &l, const cabana::Signal &r); +inline bool operator!=(const cabana::Signal &l, const cabana::Signal &r) { return !(l == r); } + +} // namespace cabana // Helper functions double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig); @@ -89,4 +104,3 @@ void updateSigSizeParamsFromRange(cabana::Signal &s, int start_bit, int size); std::pair getSignalRange(const cabana::Signal *s); inline std::vector allDBCNames() { return get_dbc_names(); } inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits::digits10); } - diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc index 4679831ddc..6de00fe77d 100644 --- a/tools/cabana/dbc/dbcfile.cc +++ b/tools/cabana/dbc/dbcfile.cc @@ -37,20 +37,18 @@ void DBCFile::open(const QString &content) { m.name = msg.name.c_str(); m.size = msg.size; for (auto &s : msg.sigs) { - m.sigs.push_back({}); - auto &sig = m.sigs.last(); - sig.name = s.name.c_str(); - sig.start_bit = s.start_bit; - sig.msb = s.msb; - sig.lsb = s.lsb; - sig.size = s.size; - sig.is_signed = s.is_signed; - sig.factor = s.factor; - sig.offset = s.offset; - sig.is_little_endian = s.is_little_endian; - sig.updatePrecision(); + auto sig = m.sigs.emplace_back(new cabana::Signal); + sig->name = s.name.c_str(); + sig->start_bit = s.start_bit; + sig->msb = s.msb; + sig->lsb = s.lsb; + sig->size = s.size; + sig->is_signed = s.is_signed; + sig->factor = s.factor; + sig->offset = s.offset; + sig->is_little_endian = s.is_little_endian; } - m.updateMask(); + m.update(); } parseExtraInfo(content); @@ -58,7 +56,7 @@ void DBCFile::open(const QString &content) { } bool DBCFile::save() { - assert (!filename.isEmpty()); + assert(!filename.isEmpty()); if (writeContents(filename)) { cleanupAutoSaveFile(); return true; @@ -90,41 +88,6 @@ bool DBCFile::writeContents(const QString &fn) { return false; } -cabana::Signal *DBCFile::addSignal(const MessageId &id, const cabana::Signal &sig) { - if (auto m = const_cast(msg(id.address))) { - m->sigs.push_back(sig); - m->updateMask(); - return &m->sigs.last(); - } - return nullptr; -} - - cabana::Signal *DBCFile::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { - if (auto m = const_cast(msg(id))) { - if (auto s = (cabana::Signal *)m->sig(sig_name)) { - *s = sig; - m->updateMask(); - return s; - } - } - return nullptr; -} - -cabana::Signal *DBCFile::getSignal(const MessageId &id, const QString &sig_name) { - auto m = msg(id); - return m ? (cabana::Signal *)m->sig(sig_name) : nullptr; -} - -void DBCFile::removeSignal(const MessageId &id, const QString &sig_name) { - if (auto m = const_cast(msg(id))) { - auto it = std::find_if(m->sigs.begin(), m->sigs.end(), [&](auto &s) { return s.name == sig_name; }); - if (it != m->sigs.end()) { - m->sigs.erase(it); - m->updateMask(); - } - } -} - void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { auto &m = msgs[id.address]; m.address = id.address; @@ -133,60 +96,17 @@ void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, m.comment = comment; } -void DBCFile::removeMsg(const MessageId &id) { - msgs.erase(id.address); -} - -QString DBCFile::newMsgName(const MessageId &id) { - return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper(); -} - -QString DBCFile::newSignalName(const MessageId &id) { - auto m = msg(id); - assert(m != nullptr); - - QString name; - for (int i = 1; /**/; ++i) { - name = QString("NEW_SIGNAL_%1").arg(i); - if (m->sig(name) == nullptr) break; - } - return name; -} - -const QList& DBCFile::mask(const MessageId &id) const { - auto m = msg(id); - return m ? m->mask : empty_mask; -} - -const cabana::Msg *DBCFile::msg(uint32_t address) const { +cabana::Msg *DBCFile::msg(uint32_t address) { auto it = msgs.find(address); return it != msgs.end() ? &it->second : nullptr; } -const cabana::Msg* DBCFile::msg(const QString &name) { - auto it = std::find_if(msgs.cbegin(), msgs.cend(), [&name](auto &m) { return m.second.name == name; }); - return it != msgs.cend() ? &(it->second) : nullptr; -} - -QStringList DBCFile::signalNames() const { - // Used for autocompletion - QStringList ret; - for (auto const& [_, msg] : msgs) { - for (auto sig: msg.getSignals()) { - ret << sig->name; - } - } - ret.sort(); - ret.removeDuplicates(); - return ret; -} - -int DBCFile::signalCount(const MessageId &id) const { - if (msgs.count(id.address) == 0) return 0; - return msgs.at(id.address).sigs.size(); +cabana::Msg *DBCFile::msg(const QString &name) { + auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; }); + return it != msgs.end() ? &(it->second) : nullptr; } -int DBCFile::signalCount() const { +int DBCFile::signalCount() { return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); }); } @@ -194,9 +114,15 @@ void DBCFile::parseExtraInfo(const QString &content) { static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))"); static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))"); - static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"(.*)\";)"); - static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"(.*)\";)"); - static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (.*);)"); + static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\"\s*;)"); + static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\"\s*;)"); + static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))"); + + int line_num = 0; + QString line; + auto dbc_assert = [&line_num, &line, this](bool condition) { + if (!condition) throw std::runtime_error(QString("[%1:%2]: %3").arg(filename).arg(line_num).arg(line).toStdString()); + }; auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * { auto m = (cabana::Msg *)msg(address); return m ? (cabana::Signal *)m->sig(name) : nullptr; @@ -205,11 +131,12 @@ void DBCFile::parseExtraInfo(const QString &content) { QTextStream stream((QString *)&content); uint32_t address = 0; while (!stream.atEnd()) { - QString line = stream.readLine().trimmed(); + ++line_num; + line = stream.readLine().trimmed(); if (line.startsWith("BO_ ")) { - if (auto match = bo_regexp.match(line); match.hasMatch()) { - address = match.captured(1).toUInt(); - } + auto match = bo_regexp.match(line); + dbc_assert(match.hasMatch()); + address = match.captured(1).toUInt(); } else if (line.startsWith("SG_ ")) { int offset = 0; auto match = sg_regexp.match(line); @@ -217,37 +144,44 @@ void DBCFile::parseExtraInfo(const QString &content) { match = sgm_regexp.match(line); offset = 1; } - if (match.hasMatch()) { - if (auto s = get_sig(address, match.captured(1))) { - s->min = match.captured(8 + offset).toDouble(); - s->max = match.captured(9 + offset).toDouble(); - s->unit = match.captured(10 + offset); - } + dbc_assert(match.hasMatch()); + if (auto s = get_sig(address, match.captured(1))) { + s->min = match.captured(8 + offset).toDouble(); + s->max = match.captured(9 + offset).toDouble(); + s->unit = match.captured(10 + offset); } } else if (line.startsWith("VAL_ ")) { - if (auto match = val_regexp.match(line); match.hasMatch()) { - if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { - QStringList desc_list = match.captured(3).trimmed().split('"'); - for (int i = 0; i < desc_list.size(); i += 2) { - auto val = desc_list[i].trimmed(); - if (!val.isEmpty() && (i + 1) < desc_list.size()) { - auto desc = desc_list[i+1].trimmed(); - s->val_desc.push_back({val, desc}); - } + auto match = val_regexp.match(line); + dbc_assert(match.hasMatch()); + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + QStringList desc_list = match.captured(3).trimmed().split('"'); + for (int i = 0; i < desc_list.size(); i += 2) { + auto val = desc_list[i].trimmed(); + if (!val.isEmpty() && (i + 1) < desc_list.size()) { + auto desc = desc_list[i + 1].trimmed(); + s->val_desc.push_back({val.toDouble(), desc}); } } } } else if (line.startsWith("CM_ BO_")) { - if (auto match = msg_comment_regexp.match(line); match.hasMatch()) { - if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) { - m->comment = match.captured(2).trimmed(); - } + if (!line.endsWith("\";")) { + int pos = stream.pos() - line.length() - 1; + line = content.mid(pos, content.indexOf("\";", pos)); + } + auto match = msg_comment_regexp.match(line); + dbc_assert(match.hasMatch()); + if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) { + m->comment = match.captured(2).trimmed(); } } else if (line.startsWith("CM_ SG_ ")) { - if (auto match = sg_comment_regexp.match(line); match.hasMatch()) { - if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { - s->comment = match.captured(3).trimmed(); - } + if (!line.endsWith("\";")) { + int pos = stream.pos() - line.length() - 1; + line = content.mid(pos, content.indexOf("\";", pos)); + } + auto match = sg_comment_regexp.match(line); + dbc_assert(match.hasMatch()); + if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) { + s->comment = match.captured(3).trimmed(); } } } @@ -278,7 +212,7 @@ QString DBCFile::generateDBC() { if (!sig->val_desc.isEmpty()) { QStringList text; for (auto &[val, desc] : sig->val_desc) { - text << QString("%1 \"%2\"").arg(val, desc); + text << QString("%1 \"%2\"").arg(val).arg(desc); } val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" ")); } diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h index 1ed9e9cd0a..76e71e189e 100644 --- a/tools/cabana/dbc/dbcfile.h +++ b/tools/cabana/dbc/dbcfile.h @@ -1,9 +1,7 @@ #pragma once #include -#include #include -#include #include "tools/cabana/dbc/dbc.h" @@ -26,30 +24,18 @@ public: void cleanupAutoSaveFile(); QString generateDBC(); - cabana::Signal *addSignal(const MessageId &id, const cabana::Signal &sig); - cabana::Signal *updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); - cabana::Signal *getSignal(const MessageId &id, const QString &sig_name); - void removeSignal(const MessageId &id, const QString &sig_name); - void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment); - void removeMsg(const MessageId &id); - - QString newMsgName(const MessageId &id); - QString newSignalName(const MessageId &id); - - const QList& mask(const MessageId &id) const; + inline void removeMsg(const MessageId &id) { msgs.erase(id.address); } - inline std::map getMessages() const { return msgs; } - const cabana::Msg *msg(uint32_t address) const; - const cabana::Msg* msg(const QString &name); - inline const cabana::Msg *msg(const MessageId &id) const { return msg(id.address); }; + inline const std::map &getMessages() const { return msgs; } + cabana::Msg *msg(uint32_t address); + cabana::Msg *msg(const QString &name); + inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); } - QStringList signalNames() const; - int signalCount(const MessageId &id) const; - int signalCount() const; - inline int msgCount() const { return msgs.size(); } - inline QString name() const { return name_.isEmpty() ? "untitled" : name_; } - inline bool isEmpty() const { return (signalCount() == 0) && name_.isEmpty(); } + int signalCount(); + inline int msgCount() { return msgs.size(); } + inline QString name() { return name_.isEmpty() ? "untitled" : name_; } + inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); } QString filename; @@ -57,5 +43,4 @@ private: void parseExtraInfo(const QString &content); std::map msgs; QString name_; - QList empty_mask; }; diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc index 2176635caa..388844098a 100644 --- a/tools/cabana/dbc/dbcmanager.cc +++ b/tools/cabana/dbc/dbcmanager.cc @@ -1,21 +1,16 @@ #include "tools/cabana/dbc/dbcmanager.h" -#include - -bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) { - for (int i = 0; i < dbc_files.size(); i++) { - auto [ss, dbc_file] = dbc_files[i]; - - // Check if file is already open, and merge sources - if (dbc_file->filename == dbc_file_name) { - dbc_files[i] = {ss | s, dbc_file}; - emit DBCFileChanged(); - return true; - } - } +#include +#include +bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) { try { - dbc_files.push_back({s, new DBCFile(dbc_file_name, this)}); + auto it = std::find_if(dbc_files.begin(), dbc_files.end(), + [&](auto &f) { return f.second && f.second->filename == dbc_file_name; }); + auto file = (it != dbc_files.end()) ? it->second : std::make_shared(dbc_file_name, this); + for (auto s : sources) { + dbc_files[s] = file; + } } catch (std::exception &e) { if (error) *error = e.what(); return false; @@ -25,9 +20,12 @@ bool DBCManager::open(SourceSet s, const QString &dbc_file_name, QString *error) return true; } -bool DBCManager::open(SourceSet s, const QString &name, const QString &content, QString *error) { +bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) { try { - dbc_files.push_back({s, new DBCFile(name, content, this)}); + auto file = std::make_shared(name, content, this); + for (auto s : sources) { + dbc_files[s] = file; + } } catch (std::exception &e) { if (error) *error = e.what(); return false; @@ -37,263 +35,154 @@ bool DBCManager::open(SourceSet s, const QString &name, const QString &content, return true; } -void DBCManager::close(SourceSet s) { - // Build new list of dbc files, removing the ones that match the sourceset - QList> new_dbc_files; - for (auto entry : dbc_files) { - if (entry.first == s) { - delete entry.second; - } else { - new_dbc_files.push_back(entry); - } +void DBCManager::close(const SourceSet &sources) { + for (auto s : sources) { + dbc_files[s] = nullptr; } - - dbc_files = new_dbc_files; emit DBCFileChanged(); } void DBCManager::close(DBCFile *dbc_file) { - assert(dbc_file != nullptr); - - // Build new list of dbc files, removing the one that matches dbc_file* - QList> new_dbc_files; - for (auto entry : dbc_files) { - if (entry.second == dbc_file) { - delete entry.second; - } else { - new_dbc_files.push_back(entry); - } + for (auto &[_, f] : dbc_files) { + if (f.get() == dbc_file) f = nullptr; } - - dbc_files = new_dbc_files; emit DBCFileChanged(); } void DBCManager::closeAll() { - if (dbc_files.isEmpty()) return; - - while (dbc_files.size()) { - DBCFile *dbc_file = dbc_files.back().second; - dbc_files.pop_back(); - delete dbc_file; - } + dbc_files.clear(); emit DBCFileChanged(); } -void DBCManager::removeSourcesFromFile(DBCFile *dbc_file, SourceSet s) { - assert(dbc_file != nullptr); - - // Build new list of dbc files, for the given dbc_file* remove s from the current sources - QList> new_dbc_files; - for (auto entry : dbc_files) { - if (entry.second == dbc_file) { - SourceSet ss = (entry.first == SOURCE_ALL) ? sources : entry.first; - ss -= s; - if (ss.empty()) { // Close file if no more sources remain - delete dbc_file; - } else { - new_dbc_files.push_back({ss, dbc_file}); - } - } else { - new_dbc_files.push_back(entry); - } - } - - dbc_files = new_dbc_files; - emit DBCFileChanged(); -} - - void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // Create new DBC? - auto [dbc_sources, dbc_file] = *sources_dbc_file; - - cabana::Signal *s = dbc_file->addSignal(id, sig); - - if (s != nullptr) { - dbc_sources.insert(id.source); - for (uint8_t source : dbc_sources) { - emit signalAdded({.source = source, .address = id.address}, s); + if (auto m = msg(id)) { + if (auto s = m->addSignal(sig)) { + emit signalAdded(id, s); } } } void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - - cabana::Signal *s = dbc_file->updateSignal(id, sig_name, sig); - - if (s != nullptr) { - emit signalUpdated(s); + if (auto m = msg(id)) { + if (auto s = m->updateSignal(sig_name, sig)) { + emit signalUpdated(s); + } } } void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - - cabana::Signal *s = dbc_file->getSignal(id, sig_name); - - if (s != nullptr) { - emit signalRemoved(s); - dbc_file->removeSignal(id, sig_name); + if (auto m = msg(id)) { + if (auto s = m->sig(sig_name)) { + emit signalRemoved(s); + m->removeSignal(sig_name); + } } } void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [dbc_sources, dbc_file] = *sources_dbc_file; - + auto dbc_file = findDBCFile(id); + assert(dbc_file); // This should be impossible dbc_file->updateMsg(id, name, size, comment); - - for (uint8_t source : dbc_sources) { - emit msgUpdated({.source = source, .address = id.address}); - } + emit msgUpdated(id); } void DBCManager::removeMsg(const MessageId &id) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [dbc_sources, dbc_file] = *sources_dbc_file; - + auto dbc_file = findDBCFile(id); + assert(dbc_file); // This should be impossible dbc_file->removeMsg(id); - - for (uint8_t source : dbc_sources) { - emit msgRemoved({.source = source, .address = id.address}); - } + emit msgRemoved(id); } QString DBCManager::newMsgName(const MessageId &id) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->newMsgName(id); + return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper(); } QString DBCManager::newSignalName(const MessageId &id) { - auto sources_dbc_file = findDBCFile(id); - assert(sources_dbc_file); // This should be impossible - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->newSignalName(id); + auto m = msg(id); + return m ? m->newSignalName() : ""; } -const QList& DBCManager::mask(const MessageId &id) const { - auto sources_dbc_file = findDBCFile(id); - if (!sources_dbc_file) { - return empty_mask; - } - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->mask(id); +const QList &DBCManager::mask(const MessageId &id) { + static QList empty_mask; + auto m = msg(id); + return m ? m->mask : empty_mask; } -std::map DBCManager::getMessages(uint8_t source) { - std::map ret; - - auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); - if (!sources_dbc_file) { - return ret; - } - - auto [_, dbc_file] = *sources_dbc_file; - - for (auto &[address, msg] : dbc_file->getMessages()) { - MessageId id = {.source = source, .address = address}; - ret[id] = msg; - } - return ret; +const std::map &DBCManager::getMessages(uint8_t source) { + static std::map empty_msgs; + auto dbc_file = findDBCFile(source); + return dbc_file ? dbc_file->getMessages() : empty_msgs; } -const cabana::Msg *DBCManager::msg(const MessageId &id) const { - auto sources_dbc_file = findDBCFile(id); - if (!sources_dbc_file) { - return nullptr; - } - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->msg(id); +cabana::Msg *DBCManager::msg(const MessageId &id) { + auto dbc_file = findDBCFile(id); + return dbc_file ? dbc_file->msg(id) : nullptr; } -const cabana::Msg* DBCManager::msg(uint8_t source, const QString &name) { - auto sources_dbc_file = findDBCFile({.source = source, .address = 0}); - if (!sources_dbc_file) { - return nullptr; - } - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->msg(name); +cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) { + auto dbc_file = findDBCFile(source); + return dbc_file ? dbc_file->msg(name) : nullptr; } -QStringList DBCManager::signalNames() const { +QStringList DBCManager::signalNames() { + // Used for autocompletion QStringList ret; - - for (auto &[_, dbc_file] : dbc_files) { - ret << dbc_file->signalNames(); + for (auto &f : allDBCFiles()) { + for (auto &[_, m] : f->getMessages()) { + for (auto sig : m.getSignals()) { + ret << sig->name; + } + } } - ret.sort(); ret.removeDuplicates(); return ret; } -int DBCManager::signalCount(const MessageId &id) const { - auto sources_dbc_file = findDBCFile(id); - if (!sources_dbc_file) { - return 0; - } - - auto [_, dbc_file] = *sources_dbc_file; - return dbc_file->signalCount(id); -} - -int DBCManager::signalCount() const { - int ret = 0; - - for (auto &[_, dbc_file] : dbc_files) { - ret += dbc_file->signalCount(); - } - - return ret; +int DBCManager::signalCount(const MessageId &id) { + auto m = msg(id); + return m ? m->sigs.size() : 0; } -int DBCManager::msgCount() const { - int ret = 0; - - for (auto &[_, dbc_file] : dbc_files) { - ret += dbc_file->msgCount(); - } - - return ret; +int DBCManager::signalCount() { + auto files = allDBCFiles(); + return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); }); } -int DBCManager::dbcCount() const { - return dbc_files.size(); +int DBCManager::msgCount() { + auto files = allDBCFiles(); + return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); }); } -int DBCManager::nonEmptyDBCCount() const { - return std::count_if(dbc_files.cbegin(), dbc_files.cend(), [](auto &f) { return !f.second->isEmpty(); }); +int DBCManager::dbcCount() { + return allDBCFiles().size(); } -void DBCManager::updateSources(const SourceSet &s) { - sources = s; +int DBCManager::nonEmptyDBCCount() { + auto files = allDBCFiles(); + return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); }); } -std::optional> DBCManager::findDBCFile(const uint8_t source) const { +DBCFile *DBCManager::findDBCFile(const uint8_t source) { // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found + auto it = dbc_files.count(source) ? dbc_files.find(source) : dbc_files.find(-1); + return it != dbc_files.end() ? it->second.get() : nullptr; +} - for (auto &[source_set, dbc_file] : dbc_files) { - if (source_set.contains(source)) return {{source_set, dbc_file}}; +std::set DBCManager::allDBCFiles() { + std::set files; + for (const auto &[_, f] : dbc_files) { + if (f) files.insert(f.get()); } - for (auto &[source_set, dbc_file] : dbc_files) { - if (source_set == SOURCE_ALL) return {{sources, dbc_file}}; - } - return {}; + return files; } -std::optional> DBCManager::findDBCFile(const MessageId &id) const { - return findDBCFile(id.source); +const SourceSet DBCManager::sources(const DBCFile *dbc_file) const { + SourceSet sources; + for (auto &[s, f] : dbc_files) { + if (f.get() == dbc_file) sources.insert(s); + } + return sources; } DBCManager *dbc() { diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h index ba590ee56e..9af4e0c1cc 100644 --- a/tools/cabana/dbc/dbcmanager.h +++ b/tools/cabana/dbc/dbcmanager.h @@ -1,20 +1,15 @@ #pragma once +#include #include -#include +#include -#include -#include -#include -#include -#include - -#include "tools/cabana/dbc/dbc.h" #include "tools/cabana/dbc/dbcfile.h" -typedef QSet SourceSet; -const SourceSet SOURCE_ALL = {}; +typedef std::set SourceSet; +const SourceSet SOURCE_ALL = {-1}; const int INVALID_SOURCE = 0xff; +inline bool operator<(const std::shared_ptr &l, const std::shared_ptr &r) { return l.get() < r.get(); } class DBCManager : public QObject { Q_OBJECT @@ -22,12 +17,11 @@ class DBCManager : public QObject { public: DBCManager(QObject *parent) {} ~DBCManager() {} - bool open(SourceSet s, const QString &dbc_file_name, QString *error = nullptr); - bool open(SourceSet s, const QString &name, const QString &content, QString *error = nullptr); - void close(SourceSet s); + bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr); + bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr); + void close(const SourceSet &sources); void close(DBCFile *dbc_file); void closeAll(); - void removeSourcesFromFile(DBCFile *dbc_file, SourceSet s); void addSignal(const MessageId &id, const cabana::Signal &sig); void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig); @@ -38,31 +32,23 @@ public: QString newMsgName(const MessageId &id); QString newSignalName(const MessageId &id); + const QList& mask(const MessageId &id); - const QList& mask(const MessageId &id) const; - - std::map getMessages(uint8_t source); - const cabana::Msg *msg(const MessageId &id) const; - const cabana::Msg* msg(uint8_t source, const QString &name); - - QStringList signalNames() const; - int signalCount(const MessageId &id) const; - int signalCount() const; - int msgCount() const; - int dbcCount() const; - int nonEmptyDBCCount() const; - - std::optional> findDBCFile(const uint8_t source) const; - std::optional> findDBCFile(const MessageId &id) const; + const std::map &getMessages(uint8_t source); + cabana::Msg *msg(const MessageId &id); + cabana::Msg* msg(uint8_t source, const QString &name); - QList> dbc_files; + QStringList signalNames(); + int signalCount(const MessageId &id); + int signalCount(); + int msgCount(); + int dbcCount(); + int nonEmptyDBCCount(); -private: - SourceSet sources; - QList empty_mask; - -public slots: - void updateSources(const SourceSet &s); + const SourceSet sources(const DBCFile *dbc_file) const; + DBCFile *findDBCFile(const uint8_t source); + inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); } + std::set allDBCFiles(); signals: void signalAdded(MessageId id, const cabana::Signal *sig); @@ -71,6 +57,9 @@ signals: void msgUpdated(MessageId id); void msgRemoved(MessageId id); void DBCFileChanged(); + +private: + std::map> dbc_files; }; DBCManager *dbc(); @@ -80,16 +69,10 @@ inline QString msgName(const MessageId &id) { return msg ? msg->name : UNTITLED; } -inline QString toString(SourceSet ss) { - if (ss == SOURCE_ALL) { - return "all"; - } else { - QStringList ret; - QList source_list = ss.values(); - std::sort(source_list.begin(), source_list.end()); - for (auto s : source_list) { - ret << QString::number(s); - } - return ret.join(", "); +inline QString toString(const SourceSet &ss) { + QStringList ret; + for (auto s : ss) { + ret << (s == -1 ? QString("all") : QString::number(s)); } + return ret.join(", "); } diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc index 13e8f70a8f..eb8bada69e 100644 --- a/tools/cabana/historylog.cc +++ b/tools/cabana/historylog.cc @@ -63,7 +63,10 @@ QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, i return "Data"; } } else if (role == Qt::BackgroundRole && section > 0 && show_signals) { - return QBrush(getColor(sigs[section - 1])); + // Alpha-blend the signal color with the background to ensure contrast + QColor sigColor = sigs[section - 1]->color; + sigColor.setAlpha(128); + return QBrush(sigColor); } } return {}; @@ -224,7 +227,7 @@ LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) { display_type_cb->setToolTip(tr("Display signal value or raw hex value")); comp_box->addItems({">", "=", "!=", "<"}); value_edit->setClearButtonEnabled(true); - value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this)); + value_edit->setValidator(new DoubleValidator(this)); dynamic_mode->setChecked(true); dynamic_mode->setEnabled(!can->liveStreaming()); diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h index 1f8c157f21..2dea698f68 100644 --- a/tools/cabana/historylog.h +++ b/tools/cabana/historylog.h @@ -62,7 +62,7 @@ public: uint64_t last_fetch_time = 0; std::function filter_cmp = nullptr; std::deque messages; - std::vector sigs; + std::vector sigs; bool dynamic_mode = true; bool display_signals_mode = true; }; diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc index d3da4a1500..f424a3eecf 100644 --- a/tools/cabana/mainwin.cc +++ b/tools/cabana/mainwin.cc @@ -32,6 +32,9 @@ MainWindow::MainWindow() : QMainWindow() { createStatusBar(); createShortcuts(); + // save default window state to allow resetting it + default_state = saveState(); + // restore states restoreGeometry(settings.geometry); if (isMaximized()) { @@ -74,6 +77,7 @@ MainWindow::MainWindow() : QMainWindow() { } void MainWindow::createActions() { + // File menu QMenu *file_menu = menuBar()->addMenu(tr("&File")); file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream); close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream); @@ -121,6 +125,7 @@ void MainWindow::createActions() { file_menu->addSeparator(); file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit); + // Edit Menu QMenu *edit_menu = menuBar()->addMenu(tr("&Edit")); auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo")); undo_act->setShortcuts(QKeySequence::Undo); @@ -135,10 +140,22 @@ void MainWindow::createActions() { commands_act->setDefaultWidget(new QUndoView(UndoStack::instance())); commands_menu->addAction(commands_act); + // View Menu + QMenu *view_menu = menuBar()->addMenu(tr("&View")); + auto act = view_menu->addAction(tr("Full Screen"), this, &MainWindow::toggleFullScreen, QKeySequence::FullScreen); + addAction(act); + view_menu->addSeparator(); + view_menu->addAction(messages_dock->toggleViewAction()); + view_menu->addAction(video_dock->toggleViewAction()); + view_menu->addSeparator(); + view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(default_state); }); + + // Tools Menu tools_menu = menuBar()->addMenu(tr("&Tools")); tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits); tools_menu->addAction(tr("&Find Signal"), this, &MainWindow::findSignal); + // Help Menu QMenu *help_menu = menuBar()->addMenu(tr("&Help")); help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents); help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt); @@ -148,13 +165,13 @@ void MainWindow::createDockWindows() { messages_dock = new QDockWidget(tr("MESSAGES"), this); messages_dock->setObjectName("MessagesPanel"); messages_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea); - messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); + messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable); addDockWidget(Qt::LeftDockWidgetArea, messages_dock); video_dock = new QDockWidget("", this); video_dock->setObjectName(tr("VideoPanel")); video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea); - video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable); + video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable); addDockWidget(Qt::RightDockWidgetArea, video_dock); } @@ -199,8 +216,6 @@ void MainWindow::createStatusBar() { void MainWindow::createShortcuts() { auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut); QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); }); - shortcut = new QShortcut(QKeySequence(QKeySequence::FullScreen), this, nullptr, nullptr, Qt::ApplicationShortcut); - QObject::connect(shortcut, &QShortcut::activated, this, &MainWindow::toggleFullScreen); // TODO: add more shortcuts here. } @@ -346,17 +361,17 @@ void MainWindow::streamStarted() { QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage); QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged); - QObject::connect(can, &AbstractStream::sourcesUpdated, dbc(), &DBCManager::updateSources); QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus); } void MainWindow::eventsMerged() { - if (!can->liveStreaming()) { - auto fingerprint = can->carFingerprint(); - video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2").arg(can->routeName()).arg(fingerprint.isEmpty() ? tr("Unknown Car") : fingerprint)); + if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) { + video_dock->setWindowTitle(tr("ROUTE: %1 FINGERPRINT: %2") + .arg(can->routeName()) + .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint)); // Don't overwrite already loaded DBC - if (!dbc()->msgCount() && !fingerprint.isEmpty()) { - auto dbc_name = fingerprint_to_dbc[fingerprint]; + if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) { + auto dbc_name = fingerprint_to_dbc[car_fingerprint]; if (dbc_name != QJsonValue::Undefined) { loadDBCFromOpendbc(dbc_name.toString()); } @@ -366,7 +381,7 @@ void MainWindow::eventsMerged() { void MainWindow::save() { // Save all open DBC files - for (auto &[s, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (dbc_file->isEmpty()) continue; saveFile(dbc_file); } @@ -374,7 +389,7 @@ void MainWindow::save() { void MainWindow::saveAs() { // Save as all open DBC files. Should not be called with more than 1 file open - for (auto &[s, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (dbc_file->isEmpty()) continue; saveFileAs(dbc_file); } @@ -382,7 +397,7 @@ void MainWindow::saveAs() { void MainWindow::autoSave() { if (!UndoStack::instance()->isClean()) { - for (auto &[_, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (!dbc_file->filename.isEmpty()) { dbc_file->autoSave(); } @@ -391,7 +406,7 @@ void MainWindow::autoSave() { } void MainWindow::cleanupAutoSaveFile() { - for (auto &[_, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { dbc_file->cleanupAutoSaveFile(); } } @@ -428,9 +443,7 @@ void MainWindow::saveFile(DBCFile *dbc_file) { } void MainWindow::saveFileAs(DBCFile *dbc_file) { - auto it = std::find_if(dbc()->dbc_files.begin(), dbc()->dbc_files.end(), [=](auto &f) { return f.second == dbc_file; }); - assert(it != dbc()->dbc_files.end()); - QString title = tr("Save File (bus: %1)").arg(toString(it->first)); + QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file))); QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)")); if (!fn.isEmpty()) { dbc_file->saveAs(fn); @@ -439,15 +452,9 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) { } } -void MainWindow::removeBusFromFile(DBCFile *dbc_file, uint8_t source) { - assert(dbc_file != nullptr); - SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; - dbc()->removeSourcesFromFile(dbc_file, ss); -} - void MainWindow::saveToClipboard() { // Copy all open DBC files to clipboard. Should not be called with more than 1 file open - for (auto &[s, dbc_file] : dbc()->dbc_files) { + for (auto dbc_file : dbc()->allDBCFiles()) { if (dbc_file->isEmpty()) continue; saveFileToClipboard(dbc_file); } @@ -472,13 +479,10 @@ void MainWindow::updateLoadSaveMenus() { // TODO: Support clipboard for multiple files copy_dbc_to_clipboard->setEnabled(cnt == 1); - QList sources_sorted = can->sources.toList(); - std::sort(sources_sorted.begin(), sources_sorted.end()); - manage_dbcs_menu->clear(); manage_dbcs_menu->setEnabled(dynamic_cast(can) == nullptr); - for (uint8_t source : sources_sorted) { + for (uint8_t source : can->sources) { if (source >= 64) continue; // Sent and blocked buses are handled implicitly SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)}; @@ -489,32 +493,26 @@ void MainWindow::updateLoadSaveMenus() { bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); }); // Show sub-menu for each dbc for this source. - QStringList bus_menu_fns; - for (auto it : dbc()->dbc_files) { - auto &[src, dbc_file] = it; - if (!src.contains(source) && (src != SOURCE_ALL)) { - continue; - } - + QString file_name = "No DBCs loaded"; + if (auto dbc_file = dbc()->findDBCFile(source)) { bus_menu->addSeparator(); - bus_menu->addAction(dbc_file->name() + " (" + toString(src) + ")")->setEnabled(false); - bus_menu->addAction(tr("Save..."), [=]() { saveFile(it.second); }); - bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(it.second); }); - bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(it.second); }); - bus_menu->addAction(tr("Remove from this bus..."), [=]() { removeBusFromFile(it.second, source); }); - bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(it.second); }); - - bus_menu_fns << dbc_file->name(); + bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false); + bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); }); + bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); }); + bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); }); + bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); }); + bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); }); + + file_name = dbc_file->name(); } manage_dbcs_menu->addMenu(bus_menu); - QString bus_menu_title = bus_menu_fns.size() ? bus_menu_fns.join(", ") : "No DBCs loaded"; - bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(bus_menu_title)); + bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name)); } QStringList title; - for (auto &[src, dbc_file] : dbc()->dbc_files) { - title.push_back(tr("(%1) %2").arg(toString(src), dbc_file->name())); + for (auto f : dbc()->allDBCFiles()) { + title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name())); } setWindowFilePath(title.join(" | ")); } diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h index f56d37a252..bbbe8730cb 100644 --- a/tools/cabana/mainwin.h +++ b/tools/cabana/mainwin.h @@ -50,7 +50,6 @@ protected: void saveFile(DBCFile *dbc_file); void saveFileAs(DBCFile *dbc_file); void saveFileToClipboard(DBCFile *dbc_file); - void removeBusFromFile(DBCFile *dbc_file, uint8_t source); void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true); void autoSave(); void cleanupAutoSaveFile(); @@ -95,8 +94,10 @@ protected: QAction *save_dbc = nullptr; QAction *save_dbc_as = nullptr; QAction *copy_dbc_to_clipboard = nullptr; + QString car_fingerprint; int prev_undostack_index = 0; int prev_undostack_count = 0; + QByteArray default_state; friend class OnlineHelp; }; diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc index 657743901e..2e2087dece 100644 --- a/tools/cabana/messageswidget.cc +++ b/tools/cabana/messageswidget.cc @@ -33,6 +33,7 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { view->setItemDelegate(delegate); view->setModel(model); + view->setHeader(header); view->setSortingEnabled(true); view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder); view->setAllColumnsShowFocus(true); @@ -40,7 +41,6 @@ MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) { view->setItemsExpandable(false); view->setIndentation(0); view->setRootIsDecorated(false); - view->setHeader(header); // Must be called before setting any header parameters to avoid overriding restoreHeaderState(settings.message_header_state); @@ -254,9 +254,13 @@ static bool parseRange(const QString &filter, uint32_t value, int base = 10) { unsigned int min = std::numeric_limits::min(); unsigned int max = std::numeric_limits::max(); auto s = filter.split('-'); - bool ok = s.size() <= 2; + bool ok = s.size() >= 1 && s.size() <= 2; if (ok && !s[0].isEmpty()) min = s[0].toUInt(&ok, base); - if (ok && s.size() == 2 && !s[1].isEmpty()) max = s[1].toUInt(&ok, base); + if (ok && s.size() == 1) { + max = min; + } else if (ok && s.size() == 2 && !s[1].isEmpty()) { + max = s[1].toUInt(&ok, base); + } return ok && value >= min && value <= max; } @@ -269,7 +273,7 @@ bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, co case Column::NAME: { const auto msg = dbc()->msg(id); match = re.match(msg ? msg->name : UNTITLED).hasMatch(); - match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s.name).hasMatch(); }); + match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s->name).hasMatch(); }); break; } case Column::SOURCE: diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc index b501f14a7c..71186bbdf1 100644 --- a/tools/cabana/signalview.cc +++ b/tools/cabana/signalview.cc @@ -133,7 +133,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { case Item::Desc: { QStringList val_desc; for (auto &[val, desc] : item->sig->val_desc) { - val_desc << QString("%1 \"%2\"").arg(val, desc); + val_desc << QString("%1 \"%2\"").arg(val).arg(desc); } return val_desc.join(" "); } @@ -146,7 +146,7 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const { } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) { return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up"); } else if (role == Qt::ToolTipRole && item->type == Item::Sig) { - return (index.column() == 0) ? item->sig->name : item->sig_val; + return (index.column() == 0) ? signalToolTip(item->sig) : QString(); } } return {}; @@ -171,7 +171,6 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r case Item::Desc: s.val_desc = value.value(); break; default: return false; } - s.updatePrecision(); bool ret = saveSignal(item->sig, s); emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole}); return ret; @@ -249,17 +248,14 @@ void SignalModel::removeSignal(const cabana::Signal *sig) { } void SignalModel::handleMsgChanged(MessageId id) { - if (id == msg_id) { + if (id.address == msg_id.address) { refresh(); } } void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) { if (id == msg_id) { - int i = 0; - for (; i < root->children.size(); ++i) { - if (sig->start_bit < root->children[i]->sig->start_bit) break; - } + int i = dbc()->msg(msg_id)->indexOf(sig); beginInsertRows({}, i, i); insertItem(root.get(), i, sig); endInsertRows(); @@ -284,11 +280,7 @@ void SignalModel::handleSignalRemoved(const cabana::Signal *sig) { SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) { name_validator = new NameValidator(this); - - QLocale locale(QLocale::C); - locale.setNumberOptions(QLocale::RejectGroupSeparator); - double_validator = new QDoubleValidator(this); - double_validator->setLocale(locale); // Match locale of QString::toDouble() instead of system + double_validator = new DoubleValidator(this); label_font.setPointSize(8); minmax_font.setPixelSize(10); @@ -308,20 +300,6 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo return {width, QApplication::fontMetrics().height()}; } -bool SignalItemDelegate::helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) { - if (event && event->type() == QEvent::ToolTip && index.isValid()) { - auto item = (SignalModel::Item *)index.internalPointer(); - if (item->type == SignalModel::Item::Sig && index.column() == 1) { - QRect rc = option.rect.adjusted(0, 0, -option.rect.width() * 0.4, 0); - if (rc.contains(event->pos())) { - event->setAccepted(false); - return false; - } - } - } - return QStyledItemDelegate::helpEvent(event, view, option, index); -} - void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const { auto item = (SignalModel::Item *)index.internalPointer(); if (editor && item->type == SignalModel::Item::Sig && index.column() == 1) { @@ -339,7 +317,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op if (item && item->type == SignalModel::Item::Sig) { painter->setRenderHint(QPainter::Antialiasing); if (option.state & QStyle::State_Selected) { - painter->fillRect(option.rect, option.palette.highlight()); + painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight)); } int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1; @@ -352,7 +330,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op path.addRoundedRect(icon_rect, 3, 3); painter->setPen(item->highlight ? Qt::white : Qt::black); painter->setFont(label_font); - painter->fillPath(path, getColor(item->sig).darker(item->highlight ? 125 : 0)); + painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0)); painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1)); r.setLeft(icon_rect.right() + h_margin * 2); @@ -463,7 +441,10 @@ SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents); tree->header()->setStretchLastSection(true); tree->setMinimumHeight(300); - tree->setStyleSheet("QSpinBox{background-color:white;border:none;} QLineEdit{background-color:white;}"); + + // Use a distinctive background for the whole row containing a QSpinBox or QLineEdit + QString nodeBgColor = palette().color(QPalette::AlternateBase).name(QColor::HexArgb); + tree->setStyleSheet(QString("QSpinBox{background-color:%1;border:none;} QLineEdit{background-color:%1;}").arg(nodeBgColor)); QVBoxLayout *main_layout = new QVBoxLayout(this); main_layout->setContentsMargins(0, 0, 0, 0); @@ -666,7 +647,7 @@ ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, Q int row = 0; for (auto &[val, desc] : descriptions) { - table->setItem(row, 0, new QTableWidgetItem(val)); + table->setItem(row, 0, new QTableWidgetItem(QString::number(val))); table->setItem(row, 1, new QTableWidgetItem(desc)); ++row; } @@ -696,7 +677,7 @@ void ValueDescriptionDlg::save() { QString val = table->item(i, 0)->text().trimmed(); QString desc = table->item(i, 1)->text().trimmed(); if (!val.isEmpty() && !desc.isEmpty()) { - val_desc.push_back({val, desc}); + val_desc.push_back({val.toDouble(), desc}); } } QDialog::accept(); @@ -706,7 +687,7 @@ QWidget *ValueDescriptionDlg::Delegate::createEditor(QWidget *parent, const QSty QLineEdit *edit = new QLineEdit(parent); edit->setFrame(false); if (index.column() == 0) { - edit->setValidator(new QIntValidator(edit)); + edit->setValidator(new DoubleValidator(parent)); } return edit; } diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h index 02741234a6..f5924c1f5d 100644 --- a/tools/cabana/signalview.h +++ b/tools/cabana/signalview.h @@ -85,7 +85,6 @@ public: void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const; QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override; - bool helpEvent(QHelpEvent *event, QAbstractItemView *view, const QStyleOptionViewItem &option, const QModelIndex &index) override; void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override; QValidator *name_validator, *double_validator; diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc index 6ad929b2ee..91c88c97ca 100644 --- a/tools/cabana/streams/livestream.cc +++ b/tools/cabana/streams/livestream.cc @@ -1,10 +1,30 @@ #include "tools/cabana/streams/livestream.h" +struct LiveStream::Logger { + Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {} + + void write(const char *data, const size_t size) { + int n = (seconds_since_epoch() - start_ts) / 60.0; + if (std::exchange(segment_num, n) != segment_num) { + QString dir = QString("%1/%2--%3") + .arg(settings.log_path) + .arg(QDateTime::fromSecsSinceEpoch(start_ts).toString("yyyy-MM-dd--hh-mm-ss")) + .arg(n); + util::create_directories(dir.toStdString(), 0755); + fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out)); + } + + fs->write(data, size); + } + + std::unique_ptr fs; + int segment_num; + uint64_t start_ts; +}; + LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) { if (settings.log_livestream) { - std::string path = (settings.log_path + "/" + QDateTime::currentDateTime().toString("yyyy-MM-dd--hh-mm-ss") + "--0").toStdString(); - util::create_directories(path, 0755); - fs.reset(new std::ofstream(path + "/rlog", std::ios::binary | std::ios::out)); + logger = std::make_unique(); } stream_thread = new QThread(this); @@ -34,8 +54,8 @@ LiveStream::~LiveStream() { // called in streamThread void LiveStream::handleEvent(const char *data, const size_t size) { - if (fs) { - fs->write(data, size); + if (logger) { + logger->write(data, size); } std::lock_guard lk(lock); diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h index 577074b415..b4816d090f 100644 --- a/tools/cabana/streams/livestream.h +++ b/tools/cabana/streams/livestream.h @@ -42,7 +42,6 @@ private: std::vector receivedEvents; std::deque receivedMessages; - std::unique_ptr fs; int timer_id; QBasicTimer update_timer; @@ -53,4 +52,7 @@ private: bool post_last_event = true; double speed_ = 1; bool paused_ = false; + + struct Logger; + std::unique_ptr logger; }; diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc index b5ea44be0c..c7c79c8388 100644 --- a/tools/cabana/streams/replaystream.cc +++ b/tools/cabana/streams/replaystream.cc @@ -32,7 +32,7 @@ void ReplayStream::mergeSegments() { } bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) { - replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, nullptr, replay_flags, data_dir, this)); + replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, {}, nullptr, replay_flags, data_dir, this)); replay->setSegmentCacheLimit(settings.max_cached_minutes); replay->installEventFilter(event_filter, this); QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo); diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc index a3921d727b..01b8dd7081 100644 --- a/tools/cabana/tests/test_cabana.cc +++ b/tools/cabana/tests/test_cabana.cc @@ -69,3 +69,44 @@ TEST_CASE("Parse can messages") { } } } + +TEST_CASE("Parse dbc") { + QString content = R"( +BO_ 160 message_1: 8 XXX + SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit" XXX + SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX + +VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault"; + +CM_ BO_ 160 "message comment" ; +CM_ SG_ 160 signal_1 "signal comment"; +CM_ SG_ 160 signal_2 "multiple line comment +1 +2 +";)"; + + DBCFile file("", content); + auto msg = file.msg(160); + REQUIRE(msg != nullptr); + REQUIRE(msg->name == "message_1"); + REQUIRE(msg->size == 8); + REQUIRE(msg->comment == "message comment"); + REQUIRE(msg->sigs.size() == 2); + REQUIRE(file.msg("message_1") != nullptr); + + auto sig_1 = msg->sigs[0]; + REQUIRE(sig_1->name == "signal_1"); + REQUIRE(sig_1->start_bit == 0); + REQUIRE(sig_1->size == 12); + REQUIRE(sig_1->min == 0); + REQUIRE(sig_1->max == 4095); + REQUIRE(sig_1->unit == "unit"); + REQUIRE(sig_1->comment == "signal comment"); + REQUIRE(sig_1->val_desc.size() == 3); + REQUIRE(sig_1->val_desc[0] == std::pair{0, "disabled"}); + REQUIRE(sig_1->val_desc[1] == std::pair{1.2, "initializing"}); + REQUIRE(sig_1->val_desc[2] == std::pair{2, "fault"}); + + auto &sig_2 = msg->sigs[1]; + REQUIRE(sig_2->comment == "multiple line comment\n1\n2"); +} diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc index 7b4a5633f6..b7d2f4c015 100644 --- a/tools/cabana/tools/findsignal.cc +++ b/tools/cabana/tools/findsignal.cc @@ -1,6 +1,5 @@ #include "tools/cabana/tools/findsignal.h" -#include #include #include #include @@ -138,8 +137,7 @@ FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags( undo_btn->setEnabled(false); reset_btn->setEnabled(false); - auto double_validator = new QDoubleValidator(this); - double_validator->setLocale(QLocale::C); + auto double_validator = new DoubleValidator(this); for (auto edit : {value1, value2, factor_edit, offset_edit, first_time_edit, last_time_edit}) { edit->setValidator(double_validator); } diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc index add4ee7928..5eb4d7fb86 100644 --- a/tools/cabana/tools/findsimilarbits.cc +++ b/tools/cabana/tools/findsimilarbits.cc @@ -24,14 +24,12 @@ FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::Wi for (uint8_t bus : can->sources) { cb->addItem(QString::number(bus), bus); } - cb->model()->sort(0); - cb->setCurrentIndex(0); } msg_cb = new QComboBox(this); // TODO: update when src_bus_combo changes - for (auto &[id, msg] : dbc()->getMessages(0)) { - msg_cb->addItem(msg.name, id.address); + for (auto &[address, msg] : dbc()->getMessages(0)) { + msg_cb->addItem(msg.name, address); } msg_cb->model()->sort(0); msg_cb->setCurrentIndex(0); diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc index a75d10139d..3cf328e1e0 100644 --- a/tools/cabana/util.cc +++ b/tools/cabana/util.cc @@ -1,7 +1,9 @@ #include "tools/cabana/util.h" +#include #include #include +#include #include #include #include @@ -94,7 +96,7 @@ void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem & int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin); int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin); if (option.state & QStyle::State_Selected) { - painter->fillRect(option.rect, option.palette.highlight()); + painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight)); } const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin}; @@ -143,17 +145,6 @@ void TabBar::closeTabClicked() { } } -QColor getColor(const cabana::Signal *sig) { - float h = 19 * (float)sig->lsb / 64.0; - h = fmod(h, 1.0); - - size_t hash = qHash(sig->name); - float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0; - float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0; - - return QColor::fromHsvF(h, s, v); -} - NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {} QValidator::State NameValidator::validate(QString &input, int &pos) const { @@ -161,6 +152,13 @@ QValidator::State NameValidator::validate(QString &input, int &pos) const { return QRegExpValidator::validate(input, pos); } +DoubleValidator::DoubleValidator(QObject *parent) : QDoubleValidator(parent) { + // Match locale of QString::toDouble() instead of system + QLocale locale(QLocale::C); + locale.setNumberOptions(QLocale::RejectGroupSeparator); + setLocale(locale); +} + namespace utils { QPixmap icon(const QString &id) { bool dark_theme = settings.theme == DARK_THEME; @@ -229,10 +227,16 @@ QString toHex(uint8_t byte) { int num_decimals(double num) { const QString string = QString::number(num); - const QStringList split = string.split('.'); - if (split.size() == 1) { - return 0; - } else { - return split[1].size(); - } + auto dot_pos = string.indexOf('.'); + return dot_pos == -1 ? 0 : string.size() - dot_pos - 1; +} + +QString signalToolTip(const cabana::Signal *sig) { + return QObject::tr(R"( + %1
+ Start Bit: %2 Size: %3
+ MSB: %4 LSB: %5
+ Little Endian: %6 Signed: %7 + )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb) + .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N"); } diff --git a/tools/cabana/util.h b/tools/cabana/util.h index 3955ab82c5..74724dfb33 100644 --- a/tools/cabana/util.h +++ b/tools/cabana/util.h @@ -2,11 +2,10 @@ #include -#include #include #include #include -#include +#include #include #include #include @@ -21,7 +20,7 @@ class LogSlider : public QSlider { Q_OBJECT public: - LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}; + LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {} void setRange(double min, double max) { log_min = factor * std::log10(min); @@ -80,16 +79,20 @@ private: inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); } QString toHex(uint8_t byte); -QColor getColor(const cabana::Signal *sig); class NameValidator : public QRegExpValidator { Q_OBJECT - public: NameValidator(QObject *parent=nullptr); QValidator::State validate(QString &input, int &pos) const override; }; +class DoubleValidator : public QDoubleValidator { + Q_OBJECT +public: + DoubleValidator(QObject *parent = nullptr); +}; + namespace utils { QPixmap icon(const QString &id); void setTheme(int theme); @@ -133,3 +136,4 @@ private: }; int num_decimals(double num); +QString signalToolTip(const cabana::Signal *sig); diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc index ed0704a676..2af1db4635 100644 --- a/tools/cabana/videowidget.cc +++ b/tools/cabana/videowidget.cc @@ -157,26 +157,31 @@ Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizonta update(); }); timer->start(2000); - thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails); + QObject::connect(can, &AbstractStream::eventsMerged, [this]() { + if (!qlog_future) { + qlog_future = std::make_unique>(QtConcurrent::run(this, &Slider::parseQLog)); + } + }); } Slider::~Slider() { - abort_load_thumbnail = true; - thumnail_future.waitForFinished(); + abort_parse_qlog = true; + if (qlog_future) { + qlog_future->waitForFinished(); + } } -void Slider::loadThumbnails() { +void Slider::parseQLog() { const auto &segments = can->route()->segments(); - double max_time = 0; - for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) { + for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) { LogReader log; std::string qlog = it->second.qlog.toStdString(); - if (!qlog.empty() && log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) { - if (max_time == 0 && !log.events.empty()) { - max_time = (*(log.events.rbegin()))->mono_time / 1e9 - can->routeStartTime(); + if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) { + if (it == segments.rbegin() && !log.events.empty()) { + double max_time = (*(log.events.rbegin()))->mono_time / 1e9 - can->routeStartTime(); emit updateMaximumTime(max_time); } - for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) { + for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) { if ((*ev)->which == cereal::Event::Which::THUMBNAIL) { auto thumb = (*ev)->event.getThumbnail(); auto data = thumb.getThumbnail(); diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h index 59bc112bd0..56edc83809 100644 --- a/tools/cabana/videowidget.h +++ b/tools/cabana/videowidget.h @@ -44,16 +44,16 @@ private: bool event(QEvent *event) override; void sliderChange(QAbstractSlider::SliderChange change) override; void paintEvent(QPaintEvent *ev) override; - void loadThumbnails(); + void parseQLog(); double max_sec = 0; int slider_x = -1; std::vector> timeline; std::mutex thumbnail_lock; - std::atomic abort_load_thumbnail = false; + std::atomic abort_parse_qlog = false; QMap thumbnails; std::map alerts; - QFuture thumnail_future; + std::unique_ptr> qlog_future; InfoLabel thumbnail_label; friend class VideoWidget; }; diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py index efe704b9ec..067b64b6ac 100644 --- a/tools/lib/helpers.py +++ b/tools/lib/helpers.py @@ -1,3 +1,4 @@ +import bz2 import datetime TIME_FMT = "%Y-%m-%d--%H-%M-%S" @@ -13,8 +14,19 @@ class RE: EXPLORER_FILE = r'^(?P{})--(?P[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME) OP_SEGMENT_DIR = r'^(?P{})$'.format(SEGMENT_NAME) + def timestamp_to_datetime(t: str) -> datetime.datetime: """ Convert an openpilot route timestamp to a python datetime """ return datetime.datetime.strptime(t, TIME_FMT) + + +def save_log(dest, log_msgs, compress=True): + dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs) + + if compress: + dat = bz2.compress(dat) + + with open(dest, "wb") as f: + f.write(dat) diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py index 1e592da3b1..e147cf9ce8 100755 --- a/tools/plotjuggler/juggle.py +++ b/tools/plotjuggler/juggle.py @@ -11,10 +11,10 @@ import requests import argparse from common.basedir import BASEDIR -from selfdrive.test.process_replay.compare_logs import save_log from selfdrive.test.openpilotci import get_url from tools.lib.logreader import LogReader from tools.lib.route import Route, SegmentName +from tools.lib.helpers import save_log from urllib.parse import urlparse, parse_qs juggle_dir = os.path.dirname(os.path.realpath(__file__)) diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/tools/plotjuggler/layouts/camera-timings.xml index 5cc1650909..f91cbd3f53 100644 --- a/tools/plotjuggler/layouts/camera-timings.xml +++ b/tools/plotjuggler/layouts/camera-timings.xml @@ -132,7 +132,7 @@ - + diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc index e3d5071412..3313e11d40 100644 --- a/tools/replay/logreader.cc +++ b/tools/replay/logreader.cc @@ -68,20 +68,16 @@ bool LogReader::parse(const std::set &allow, std::atomic words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word)); while (words.size() > 0 && !(abort && *abort)) { - if (!allow.empty()) { - capnp::FlatArrayMessageReader reader(words); - auto which = reader.getRoot().which(); - if (allow.find(which) == allow.end()) { - words = kj::arrayPtr(reader.getEnd(), words.end()); - continue; - } - } - #ifdef HAS_MEMORY_RESOURCE Event *evt = new (mbr_) Event(words); #else Event *evt = new Event(words); #endif + if (!allow.empty() && allow.find(evt->which) == allow.end()) { + delete evt; + words = kj::arrayPtr(evt->reader.getEnd(), words.end()); + continue; + } // Add encodeIdx packet again as a frame packet for the video stream if (evt->which == cereal::Event::ROAD_ENCODE_IDX || diff --git a/tools/replay/main.cc b/tools/replay/main.cc index 6b624aa1fa..78be2acd0b 100644 --- a/tools/replay/main.cc +++ b/tools/replay/main.cc @@ -8,6 +8,7 @@ int main(int argc, char *argv[]) { QCoreApplication app(argc, argv); + const QStringList base_blacklist = {"uiDebug", "userFlag"}; const std::tuple flags[] = { {"dcam", REPLAY_FLAG_DCAM, "load driver camera"}, {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"}, @@ -16,6 +17,8 @@ int main(int argc, char *argv[]) { {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"}, {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"}, {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"}, + {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") + + ". this may causes issues when used along with UI"} }; QCommandLineParser parser; @@ -56,7 +59,7 @@ int main(int argc, char *argv[]) { op_prefix.reset(new OpenpilotPrefix(prefix.toStdString())); } - Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app); + Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app); if (!parser.value("c").isEmpty()) { replay->setSegmentCacheLimit(parser.value("c").toInt()); } diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc index 95315fe71b..28adcffb92 100644 --- a/tools/replay/replay.cc +++ b/tools/replay/replay.cc @@ -10,14 +10,20 @@ #include "system/hardware/hw.h" #include "tools/replay/util.h" -Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) +Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent) : sm(sm_), flags_(flags), QObject(parent) { std::vector s; auto event_struct = capnp::Schema::from().asStruct(); sockets_.resize(event_struct.getUnionFields().size()); for (const auto &it : services) { + uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); + if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) && + !(flags & REPLAY_FLAG_ALL_SERVICES) && + !allow.contains(it.name)) { + continue; + } + if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) { - uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue(); sockets_[which] = it.name; if (!allow.empty() || !block.empty()) { allow_list.insert((cereal::Event::Which)which); @@ -131,8 +137,18 @@ void Replay::seekToFlag(FindFlag flag) { void Replay::buildTimeline() { uint64_t engaged_begin = 0; + bool engaged = false; + + auto alert_status = cereal::ControlsState::AlertStatus::NORMAL; + auto alert_size = cereal::ControlsState::AlertSize::NONE; uint64_t alert_begin = 0; - TimelineType alert_type = TimelineType::None; + std::string alert_type; + + const TimelineType timeline_types[] = { + [(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo, + [(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning, + [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical, + }; for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) { LogReader log; @@ -144,26 +160,24 @@ void Replay::buildTimeline() { if (e->which == cereal::Event::Which::CONTROLS_STATE) { auto cs = e->event.getControlsState(); - if (!engaged_begin && cs.getEnabled()) { + if (engaged != cs.getEnabled()) { + if (engaged) { + std::lock_guard lk(timeline_lock); + timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged}); + } engaged_begin = e->mono_time; - } else if (engaged_begin && !cs.getEnabled()) { - std::lock_guard lk(timeline_lock); - timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged}); - engaged_begin = 0; + engaged = cs.getEnabled(); } - if (!alert_begin && cs.getAlertType().size() > 0) { - alert_begin = e->mono_time; - alert_type = TimelineType::AlertInfo; - if (cs.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL) { - alert_type = cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT - ? TimelineType::AlertWarning - : TimelineType::AlertCritical; + if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) { + if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) { + std::lock_guard lk(timeline_lock); + timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), timeline_types[(int)alert_status]}); } - } else if (alert_begin && cs.getAlertType().size() == 0) { - std::lock_guard lk(timeline_lock); - timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type}); - alert_begin = 0; + alert_begin = e->mono_time; + alert_type = cs.getAlertType().cStr(); + alert_size = cs.getAlertSize(); + alert_status = cs.getAlertStatus(); } } else if (e->which == cereal::Event::Which::USER_FLAG) { std::lock_guard lk(timeline_lock); diff --git a/tools/replay/replay.h b/tools/replay/replay.h index 2bb426361b..b7704132c2 100644 --- a/tools/replay/replay.h +++ b/tools/replay/replay.h @@ -22,6 +22,7 @@ enum REPLAY_FLAGS { REPLAY_FLAG_NO_HW_DECODER = 0x0100, REPLAY_FLAG_FULL_SPEED = 0x0200, REPLAY_FLAG_NO_VIPC = 0x0400, + REPLAY_FLAG_ALL_SERVICES = 0x0800, }; enum class FindFlag { @@ -40,7 +41,7 @@ class Replay : public QObject { Q_OBJECT public: - Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr, + Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr, uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0); ~Replay(); bool load(); @@ -67,7 +68,7 @@ public: inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); } inline uint64_t routeStartTime() const { return route_start_ts_; } inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; } - inline int totalSeconds() const { return segments_.size() * 60; } + inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; } inline void setSpeed(float speed) { speed_ = speed; } inline float getSpeed() const { return speed_; } inline const std::vector *events() const { return events_.get(); } diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc index 30e3c811ee..f0b80269dc 100644 --- a/tools/replay/tests/test_replay.cc +++ b/tools/replay/tests/test_replay.cc @@ -154,7 +154,7 @@ TEST_CASE("Route") { // helper class for unit tests class TestReplay : public Replay { public: - TestReplay(const QString &route, uint8_t flags = REPLAY_FLAG_NO_FILE_CACHE) : Replay(route, {}, {}, nullptr, flags) {} + TestReplay(const QString &route, uint8_t flags = REPLAY_FLAG_NO_FILE_CACHE) : Replay(route, {}, {}, {}, nullptr, flags) {} void test_seek(); void testSeekTo(int seek_to); }; diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py index 7bb12badb2..adb477b664 100755 --- a/tools/sim/bridge.py +++ b/tools/sim/bridge.py @@ -254,7 +254,6 @@ class CarlaBridge: msg.liveCalibration.validBlocks = 20 msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0] self.params.put("CalibrationParams", msg.to_bytes()) - self.params.put_bool("WideCameraOnly", not arguments.dual_camera) self._args = arguments self._carla_objects = [] @@ -545,23 +544,17 @@ if __name__ == "__main__": q: Any = Queue() args = parse_args() - try: - carla_bridge = CarlaBridge(args) - p = carla_bridge.run(q) + carla_bridge = CarlaBridge(args) + p = carla_bridge.run(q) - if args.joystick: - # start input poll for joystick - from tools.sim.lib.manual_ctrl import wheel_poll_thread + if args.joystick: + # start input poll for joystick + from tools.sim.lib.manual_ctrl import wheel_poll_thread - wheel_poll_thread(q) - else: - # start input poll for keyboard - from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread - - keyboard_poll_thread(q) - p.join() + wheel_poll_thread(q) + else: + # start input poll for keyboard + from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread - finally: - # Try cleaning up the wide camera param - # in case users want to use replay after - Params().remove("WideCameraOnly") + keyboard_poll_thread(q) + p.join() diff --git a/tools/ssh/README.md b/tools/ssh/README.md index 67b5271a42..588ea71579 100644 --- a/tools/ssh/README.md +++ b/tools/ssh/README.md @@ -24,14 +24,12 @@ The `id_rsa` key in this directory only works while your device is in the setup See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information. # Connecting to ssh.comma.ai -SSH into your comma device from anywhere with `ssh.comma.ai`. +SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect). ## Setup With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`. -Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM. - ## Recommended .ssh/config With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.